#include <correspondence_rejection.h>
Public Member Functions | |
DataContainer () | |
Empty constructor. | |
double | getCorrespondenceScore (int index) |
Get the correspondence score for a point in the input cloud. | |
double | getCorrespondenceScore (const pcl::Correspondence &corr) |
Get the correspondence score for a given pair of correspondent points. | |
double | getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr) |
Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. The normmals for the in put and target clouds must be set before using this function. | |
NormalsPtr | getInputNormals () |
Get the normals computed on the input point cloud. | |
NormalsPtr | getTargetNormals () |
Get the normals computed on the target point cloud. | |
void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. | |
void | setInputNormals (const NormalsPtr &normals) |
Set the normals computed on the input point cloud. | |
void | setInputTarget (const PointCloudConstPtr &target) |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. | |
void | setTargetNormals (const NormalsPtr &normals) |
Set the normals computed on the target point cloud. | |
Private Types | |
typedef pcl::KdTree< PointT >::Ptr | KdTreePtr |
typedef pcl::PointCloud < NormalT >::ConstPtr | NormalsPtr |
typedef pcl::PointCloud < PointT >::ConstPtr | PointCloudConstPtr |
Private Attributes | |
PointCloudConstPtr | input_ |
The input point cloud dataset. | |
NormalsPtr | input_normals_ |
Normals to the input point cloud. | |
PointCloudConstPtr | target_ |
The target point cloud datase. | |
NormalsPtr | target_normals_ |
Normals to the target point cloud. | |
KdTreePtr | tree_ |
A pointer to the spatial search object. |
DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds
Definition at line 158 of file correspondence_rejection.h.
typedef pcl::KdTree<PointT>::Ptr pcl::registration::DataContainer< PointT, NormalT >::KdTreePtr [private] |
Definition at line 161 of file correspondence_rejection.h.
typedef pcl::PointCloud<NormalT>::ConstPtr pcl::registration::DataContainer< PointT, NormalT >::NormalsPtr [private] |
Definition at line 162 of file correspondence_rejection.h.
typedef pcl::PointCloud<PointT>::ConstPtr pcl::registration::DataContainer< PointT, NormalT >::PointCloudConstPtr [private] |
Definition at line 160 of file correspondence_rejection.h.
pcl::registration::DataContainer< PointT, NormalT >::DataContainer | ( | ) | [inline] |
Empty constructor.
Definition at line 167 of file correspondence_rejection.h.
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore | ( | int | index | ) | [inline, virtual] |
Get the correspondence score for a point in the input cloud.
index] | index of the point in the input cloud |
Implements pcl::registration::DataContainerInterface.
Definition at line 217 of file correspondence_rejection.h.
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore | ( | const pcl::Correspondence & | corr | ) | [inline, virtual] |
Get the correspondence score for a given pair of correspondent points.
corr] | Correspondent points |
Implements pcl::registration::DataContainerInterface.
Definition at line 233 of file correspondence_rejection.h.
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScoreFromNormals | ( | const pcl::Correspondence & | corr | ) | [inline] |
Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. The normmals for the in put and target clouds must be set before using this function.
[in] | corr | Correspondent points |
Definition at line 248 of file correspondence_rejection.h.
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::getInputNormals | ( | ) | [inline] |
Get the normals computed on the input point cloud.
Definition at line 207 of file correspondence_rejection.h.
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::getTargetNormals | ( | ) | [inline] |
Get the normals computed on the target point cloud.
Definition at line 211 of file correspondence_rejection.h.
void pcl::registration::DataContainer< PointT, NormalT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 177 of file correspondence_rejection.h.
void pcl::registration::DataContainer< PointT, NormalT >::setInputNormals | ( | const NormalsPtr & | normals | ) | [inline] |
Set the normals computed on the input point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 197 of file correspondence_rejection.h.
void pcl::registration::DataContainer< PointT, NormalT >::setInputTarget | ( | const PointCloudConstPtr & | target | ) | [inline] |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | target | a cloud containing XYZ data |
Definition at line 187 of file correspondence_rejection.h.
void pcl::registration::DataContainer< PointT, NormalT >::setTargetNormals | ( | const NormalsPtr & | normals | ) | [inline] |
Set the normals computed on the target point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 203 of file correspondence_rejection.h.
PointCloudConstPtr pcl::registration::DataContainer< PointT, NormalT >::input_ [private] |
The input point cloud dataset.
Definition at line 260 of file correspondence_rejection.h.
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::input_normals_ [private] |
Normals to the input point cloud.
Definition at line 266 of file correspondence_rejection.h.
PointCloudConstPtr pcl::registration::DataContainer< PointT, NormalT >::target_ [private] |
The target point cloud datase.
Definition at line 263 of file correspondence_rejection.h.
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::target_normals_ [private] |
Normals to the target point cloud.
Definition at line 269 of file correspondence_rejection.h.
KdTreePtr pcl::registration::DataContainer< PointT, NormalT >::tree_ [private] |
A pointer to the spatial search object.
Definition at line 272 of file correspondence_rejection.h.