The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set by the user). More...

#include <correspondence_rejection_organized_boundary.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectionOrganizedBoundary:

[legend]

List of all members.

Public Member Functions
	CorrespondenceRejectionOrganizedBoundary ()
	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. Pure virtual. Compared to getCorrespondences this function is stateless, i.e., input correspondences do not need to be provided beforehand, but are directly provided in the function call.
template<typename PointT >
void	setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
template<typename PointT >
void	setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
void	setNumberOfBoundaryNaNs (int val)
virtual bool	updateSource (const Eigen::Matrix4d &)
Protected Types
typedef boost::shared_ptr < pcl::registration::DataContainerInterface >	DataContainerPtr
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
Protected Attributes
int	boundary_nans_threshold_
DataContainerPtr	data_container_
float	depth_step_threshold_
int	window_size_

Detailed Description

The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set by the user).

Note:: Both the source and the target clouds need to be organized, otherwise all the correspondences will be rejected.

Author:: Alexandru E. Ichim

Definition at line 59 of file correspondence_rejection_organized_boundary.h.

Member Typedef Documentation

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

Definition at line 112 of file correspondence_rejection_organized_boundary.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 63 of file correspondence_rejection_organized_boundary.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectionOrganizedBoundary::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 105 of file correspondence_rejection_organized_boundary.h.

void pcl::registration::CorrespondenceRejectionOrganizedBoundary::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. Pure virtual. Compared to getCorrespondences this function is stateless, i.e., input correspondences do not need to be provided beforehand, but are directly provided in the function call.

Parameters:

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

Count how many NaNs bound the target point

The correspondence passes both tests, add it to the filtered set of correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_organized_boundary.cpp.

template<typename PointT >

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

Definition at line 80 of file correspondence_rejection_organized_boundary.h.

template<typename PointT >

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