CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...

#include <pcl/registration/correspondence_rejection_features.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures:

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Collaboration 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.
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 >
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 >
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 >
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.
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.
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.
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	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.
virtual void	setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
	Provide a pointer to the vector of the input correspondences.
CorrespondencesConstPtr	getInputCorrespondences ()
	Get a pointer to the vector of the input correspondences.
void	getCorrespondences (pcl::Correspondences &correspondences)
	Run correspondence rejection.
void	getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector.

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.

Author:: Radu B. Rusu

Definition at line 60 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 68 of file correspondence_rejection_features.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences & correspondences ) [inline, inherited]

Run correspondence rejection.

Parameters:

[out] correspondences Vector of correspondences that have not been rejected.

Definition at line 84 of file correspondence_rejection.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( ) [inline, inherited]

Get a pointer to the vector of the input correspondences.

Returns:: correspondences the const boost shared pointer to a correspondence vector

Definition at line 78 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)		`[inline, inherited]`

Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector.

Parameters:

[in]	correspondences	Vector of correspondences after rejection
[out]	indices	Vector of query point indices of those correspondences that have been rejected.

Definition at line 112 of file correspondence_rejection.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_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_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] key a 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] key a string that uniquely identifies the feature (must match the key provided by setTargetFeature)

Definition at line 99 of file correspondence_rejection_features.hpp.

bool pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures ( ) [inline]

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]	thresh	the distance threshold
[in]	key	a 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]	key	a string that uniquely identifies the feature
[in]	fr	the point feature representation to be used

Definition at line 135 of file correspondence_rejection_features.hpp.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences ) [inline, virtual, inherited]

Provide a pointer to the vector of the input correspondences.

Parameters:

[in] correspondences the const boost shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.h.

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_feature	a cloud of feature descriptors associated with the source point cloud
[in]	key	a 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_feature	a cloud of feature descriptors associated with the target point cloud
[in]	key	a string that uniquely identifies the feature

Definition at line 89 of file correspondence_rejection_features.hpp.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection_features.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_features.hpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation