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...

#include <correspondence_rejection_features.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >:

[legend]

List of all members.

Public Types
typedef pcl::PointCloud < FeatureT >::ConstPtr	FeatureCloudConstPtr
typedef pcl::PointRepresentation < FeatureT >::ConstPtr	PointRepresentationConstPtr
typedef boost::function< int(const pcl::PointCloud< FeatureT > &, int, std::vector< int > &, std::vector< float > &)>	SearchMethod
Public Member Functions
	FeatureContainer ()
virtual double	getCorrespondenceScore (int index)
	Obtain a score between a pair of correspondences.
FeatureCloudConstPtr	getSourceFeature ()
FeatureCloudConstPtr	getTargetFeature ()
virtual bool	isCorrespondenceValid (int index)
	Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.
virtual bool	isValid ()
void	setDistanceThreshold (double thresh)
void	setFeatureRepresentation (const PointRepresentationConstPtr &fr)
	Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
void	setSourceFeature (const FeatureCloudConstPtr &source_features)
void	setTargetFeature (const FeatureCloudConstPtr &target_features)
virtual	~FeatureContainer ()
	Empty destructor.
Private Attributes
PointRepresentationConstPtr	feature_representation_
	The internal point feature representation used.
SearchMethod	search_method_
FeatureCloudConstPtr	source_features_
FeatureCloudConstPtr	target_features_
double	thresh_
	The L2 squared Euclidean threshold.

Detailed Description

template<typename FeatureT>
class pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >

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.

Definition at line 176 of file correspondence_rejection_features.h.

Member Typedef Documentation

template<typename FeatureT >

typedef pcl::PointCloud<FeatureT>::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureCloudConstPtr

Definition at line 179 of file correspondence_rejection_features.h.

template<typename FeatureT >

typedef pcl::PointRepresentation<FeatureT>::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::PointRepresentationConstPtr

Definition at line 183 of file correspondence_rejection_features.h.

template<typename FeatureT >

typedef boost::function<int (const pcl::PointCloud<FeatureT> &, int, std::vector<int> &, std::vector<float> &)> pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::SearchMethod

Definition at line 181 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

template<typename FeatureT >

pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureContainer ( ) [inline]

Definition at line 185 of file correspondence_rejection_features.h.

template<typename FeatureT >

virtual pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::~FeatureContainer ( ) [inline, virtual]

Empty destructor.

Definition at line 190 of file correspondence_rejection_features.h.

Member Function Documentation

template<typename FeatureT >

virtual double pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getCorrespondenceScore ( int index ) [inline, virtual]

Obtain a score between a pair of correspondences.

Parameters:

[in] the index to check in the list of correspondences

Returns:: score the resultant computed score

Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.

Definition at line 246 of file correspondence_rejection_features.h.

template<typename FeatureT >

FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getSourceFeature ( ) [inline]

Definition at line 199 of file correspondence_rejection_features.h.

template<typename FeatureT >

FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getTargetFeature ( ) [inline]

Definition at line 211 of file correspondence_rejection_features.h.

template<typename FeatureT >

virtual bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isCorrespondenceValid ( int index ) [inline, virtual]

Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.

Parameters:

[in] the index to check in the list of correspondences

Returns:: true if the correspondence is good, false otherwise

Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.

Definition at line 279 of file correspondence_rejection_features.h.

template<typename FeatureT >

virtual bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isValid ( ) [inline, virtual]

Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.

Definition at line 223 of file correspondence_rejection_features.h.

template<typename FeatureT >

void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setDistanceThreshold ( double thresh ) [inline]

Definition at line 217 of file correspondence_rejection_features.h.

template<typename FeatureT >

void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setFeatureRepresentation ( const PointRepresentationConstPtr & fr ) [inline]

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

Parameters:

[in] fr the point feature representation to be used

Definition at line 236 of file correspondence_rejection_features.h.

template<typename FeatureT >

void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setSourceFeature ( const FeatureCloudConstPtr & source_features ) [inline]

Definition at line 193 of file correspondence_rejection_features.h.

template<typename FeatureT >

void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setTargetFeature ( const FeatureCloudConstPtr & target_features ) [inline]