Classes | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorFeatures Class Reference

#include <correspondence_rejection_features.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures:
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List of all members.

Classes

class  FeatureContainer
 An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. This class extends FeatureContainerInterface, which contains abstract methods for any methods that do not depend on the FeatureT --- these methods can thus be called from a pointer to FeatureContainerInterface without casting to the derived class. More...
class  FeatureContainerInterface

Public Member Functions

 CorrespondenceRejectorFeatures ()
 Empty constructor.
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 FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getSourceFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key.
template<typename FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getTargetFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key.
bool hasValidFeatures ()
 Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)
template<typename FeatureT >
void setDistanceThreshold (double thresh, const std::string &key)
 Set a hard distance threshold in the feature FeatureT space, between source and target features. Any feature correspondence that is above this threshold will be considered bad and will be filtered out.
template<typename FeatureT >
void setFeatureRepresentation (const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key)
 Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
template<typename FeatureT >
void setSourceFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
template<typename FeatureT >
void setTargetFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the target point cloud.

Protected Types

typedef boost::unordered_map
< std::string,
boost::shared_ptr
< FeatureContainerInterface > > 
FeaturesMap

Protected Member Functions

void applyRejection (pcl::Correspondences &correspondences)
 Apply the rejection algorithm.

Protected Attributes

FeaturesMap features_map_
 An STL map containing features to use when performing the correspondence search.
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

CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.

Todo:
explain this better.
Author:
Radu B. Rusu

Definition at line 60 of file correspondence_rejection_features.h.


Member Typedef Documentation

typedef boost::unordered_map<std::string, boost::shared_ptr<FeatureContainerInterface> > pcl::registration::CorrespondenceRejectorFeatures::FeaturesMap [protected]

Definition at line 156 of file correspondence_rejection_features.h.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 68 of file correspondence_rejection_features.h.


Member Function Documentation

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

Apply the rejection algorithm.

Parameters:
[out]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 138 of file correspondence_rejection_features.h.

void pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
) [virtual]

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

Parameters:
[in]original_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature ( const std::string &  key) [inline]

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters:
[in]keya string that uniquely identifies the feature (must match the key provided by setSourceFeature)

Definition at line 79 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature ( const std::string &  key) [inline]

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters:
[in]keya string that uniquely identifies the feature (must match the key provided by setTargetFeature)

Definition at line 99 of file correspondence_rejection_features.hpp.

Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)

Definition at line 122 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold ( double  thresh,
const std::string &  key 
) [inline]

Set a hard distance threshold in the feature FeatureT space, between source and target features. Any feature correspondence that is above this threshold will be considered bad and will be filtered out.

Parameters:
[in]threshthe distance threshold
[in]keya string that uniquely identifies the feature

Definition at line 112 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation ( const typename pcl::PointRepresentation< FeatureT >::ConstPtr &  fr,
const std::string &  key 
) [inline]

Provide a boost shared pointer to a PointRepresentation to be used when comparing features.

Parameters:
[in]keya string that uniquely identifies the feature
[in]frthe point feature representation to be used

Definition at line 135 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr &  source_feature,
const std::string &  key 
) [inline]

Provide a pointer to a cloud of feature descriptors associated with the source point cloud.

Parameters:
[in]source_featurea cloud of feature descriptors associated with the source point cloud
[in]keya string that uniquely identifies the feature

Definition at line 69 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr &  target_feature,
const std::string &  key 
) [inline]

Provide a pointer to a cloud of feature descriptors associated with the target point cloud.

Parameters:
[in]target_featurea cloud of feature descriptors associated with the target point cloud
[in]keya string that uniquely identifies the feature

Definition at line 89 of file correspondence_rejection_features.hpp.


Member Data Documentation

An STL map containing features to use when performing the correspondence search.

Definition at line 159 of file correspondence_rejection_features.h.

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 146 of file correspondence_rejection_features.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:21