Point Cloud Library (PCL)  1.14.1-dev
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pcl::registration::CorrespondenceRejector Class Referenceabstract

CorrespondenceRejector represents the base class for correspondence rejection methods More...

#include <pcl/registration/correspondence_rejection.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejector:
+ Collaboration diagram for pcl::registration::CorrespondenceRejector:

Public Types

using Ptr = shared_ptr< CorrespondenceRejector >
 
using ConstPtr = shared_ptr< const CorrespondenceRejector >
 

Public Member Functions

 CorrespondenceRejector ()=default
 Empty constructor. More...
 
virtual ~CorrespondenceRejector ()=default
 Empty destructor. More...
 
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences. More...
 
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences. More...
 
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection. More...
 
virtual void getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)=0
 Get a list of valid correspondences after rejection from the original set of correspondences. More...
 
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, pcl::Indices &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. More...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool requiresSourcePoints () const
 See if this rejector requires source points. More...
 
virtual void setSourcePoints (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source cloud. More...
 
virtual bool requiresSourceNormals () const
 See if this rejector requires source normals. More...
 
virtual void setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source normals. More...
 
virtual bool requiresTargetPoints () const
 See if this rejector requires a target cloud. More...
 
virtual void setTargetPoints (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target cloud. More...
 
virtual bool requiresTargetNormals () const
 See if this rejector requires target normals. More...
 
virtual void setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target normals. More...
 

Protected Member Functions

virtual void applyRejection (Correspondences &correspondences)=0
 Abstract rejection method. More...
 

Protected Attributes

std::string rejection_name_ {}
 The name of the rejection method. More...
 
CorrespondencesConstPtr input_correspondences_
 The input correspondences. More...
 

Detailed Description

CorrespondenceRejector represents the base class for correspondence rejection methods

Author
Dirk Holz

Definition at line 54 of file correspondence_rejection.h.

Member Typedef Documentation

◆ ConstPtr

Definition at line 57 of file correspondence_rejection.h.

◆ Ptr

Definition at line 56 of file correspondence_rejection.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejector()

pcl::registration::CorrespondenceRejector::CorrespondenceRejector ( )
default

Empty constructor.

◆ ~CorrespondenceRejector()

virtual pcl::registration::CorrespondenceRejector::~CorrespondenceRejector ( )
virtualdefault

Empty destructor.

Member Function Documentation

◆ applyRejection()

virtual void pcl::registration::CorrespondenceRejector::applyRejection ( Correspondences correspondences)
protectedpure virtual

◆ getClassName()

const std::string& pcl::registration::CorrespondenceRejector::getClassName ( ) const
inline

Get a string representation of the name of this class.

Definition at line 131 of file correspondence_rejection.h.

References rejection_name_.

Referenced by getRejectedQueryIndices(), setSourceNormals(), setSourcePoints(), setTargetNormals(), and setTargetPoints().

◆ getCorrespondences()

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences correspondences)
inline

Run correspondence rejection.

Parameters
[out]correspondencesVector of correspondences that have not been rejected.

Definition at line 87 of file correspondence_rejection.h.

References applyRejection(), and input_correspondences_.

◆ getInputCorrespondences()

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( )
inline

Get a pointer to the vector of the input correspondences.

Returns
correspondences the const shared pointer to a correspondence vector

Definition at line 78 of file correspondence_rejection.h.

References input_correspondences_.

◆ getRejectedQueryIndices()

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices ( const pcl::Correspondences correspondences,
pcl::Indices indices 
)
inline

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

Definition at line 116 of file correspondence_rejection.h.

References getClassName(), pcl::getRejectedQueryIndices(), and input_correspondences_.

◆ getRemainingCorrespondences()

virtual void pcl::registration::CorrespondenceRejector::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
)
inlinepure 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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe resultant filtered set of remaining correspondences

Implemented in pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorTrimmed, pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectionOrganizedBoundary, pcl::registration::CorrespondenceRejectorOneToOne, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorFeatures, pcl::registration::CorrespondenceRejectorDistance, and pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

◆ requiresSourceNormals()

virtual bool pcl::registration::CorrespondenceRejector::requiresSourceNormals ( ) const
inlinevirtual

See if this rejector requires source normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 154 of file correspondence_rejection.h.

◆ requiresSourcePoints()

virtual bool pcl::registration::CorrespondenceRejector::requiresSourcePoints ( ) const
inlinevirtual

◆ requiresTargetNormals()

virtual bool pcl::registration::CorrespondenceRejector::requiresTargetNormals ( ) const
inlinevirtual

See if this rejector requires target normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 185 of file correspondence_rejection.h.

◆ requiresTargetPoints()

virtual bool pcl::registration::CorrespondenceRejector::requiresTargetPoints ( ) const
inlinevirtual

◆ setInputCorrespondences()

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr correspondences)
inlinevirtual

Provide a pointer to the vector of the input correspondences.

Parameters
[in]correspondencesthe const shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.h.

References input_correspondences_.

◆ setSourceNormals()

virtual void pcl::registration::CorrespondenceRejector::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr  )
inlinevirtual

Abstract method for setting the source normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 161 of file correspondence_rejection.h.

References getClassName().

◆ setSourcePoints()

virtual void pcl::registration::CorrespondenceRejector::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr  )
inlinevirtual

◆ setTargetNormals()

virtual void pcl::registration::CorrespondenceRejector::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr  )
inlinevirtual

Abstract method for setting the target normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 192 of file correspondence_rejection.h.

References getClassName().

◆ setTargetPoints()

virtual void pcl::registration::CorrespondenceRejector::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr  )
inlinevirtual

Member Data Documentation

◆ input_correspondences_

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::input_correspondences_
protected

The input correspondences.

Definition at line 204 of file correspondence_rejection.h.

Referenced by getCorrespondences(), getInputCorrespondences(), getRejectedQueryIndices(), and setInputCorrespondences().

◆ rejection_name_

std::string pcl::registration::CorrespondenceRejector::rejection_name_ {}
protected

The name of the rejection method.

Definition at line 201 of file correspondence_rejection.h.

Referenced by getClassName().


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