#include <correspondence_rejection_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorDistance:

Public Member Functions
	CorrespondenceRejectorDistance ()
	Empty constructor.
float	getMaximumDistance ()
	Get the maximum distance used for thresholding in correspondence rejection.
void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
	Get a list of valid correspondences after rejection from the original set of correspondences.
template<typename PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT >
void	setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
virtual void	setMaximumDistance (float distance)
	Set the maximum distance used for thresholding in correspondence rejection.
Protected Types
typedef boost::shared_ptr < DataContainerInterface >	DataContainerPtr
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
Protected Attributes
DataContainerPtr	data_container_
	A pointer to the DataContainer object containing the input and target point clouds.
float	max_distance_
	The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignment process.

Detailed Description

CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences.

Note:: If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.

Author:: Dirk Holz, Radu B. Rusu

Definition at line 59 of file correspondence_rejection_distance.h.

Member Typedef Documentation

typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorDistance::DataContainerPtr [protected]

Definition at line 134 of file correspondence_rejection_distance.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorDistance::CorrespondenceRejectorDistance ( ) [inline]

Empty constructor.

Definition at line 68 of file correspondence_rejection_distance.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorDistance::applyRejection ( pcl::Correspondences & correspondences ) [inline, protected, virtual]

Apply the rejection algorithm.

Parameters:

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 124 of file correspondence_rejection_distance.h.

float pcl::registration::CorrespondenceRejectorDistance::getMaximumDistance ( ) [inline]

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 92 of file correspondence_rejection_distance.h.

void pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)		`[inline, virtual]`

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_distance.hpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [inline]

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:

[in] cloud a cloud containing XYZ data

Definition at line 99 of file correspondence_rejection_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr & target ) [inline]

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:

[in] target a cloud containing XYZ data

Definition at line 111 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance ( float distance ) [inline, virtual]

Set the maximum distance used for thresholding in correspondence rejection.

Parameters:

[in] distance Distance to be used as maximum distance between correspondences. Correspondences with larger distances are rejected.

Note:: Internally, the distance will be stored squared.

Definition at line 88 of file correspondence_rejection_distance.h.

Member Data Documentation

DataContainerPtr pcl::registration::CorrespondenceRejectorDistance::data_container_ [protected]

A pointer to the DataContainer object containing the input and target point clouds.

Definition at line 137 of file correspondence_rejection_distance.h.

float pcl::registration::CorrespondenceRejectorDistance::max_distance_ [protected]

The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignment process.

Definition at line 132 of file correspondence_rejection_distance.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation