Point Cloud Library (PCL)
1.7.0
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CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...
#include <pcl/registration/correspondence_rejection_features.h>
Classes | |
class | FeatureContainer |
An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More... | |
class | FeatureContainerInterface |
Public Types | |
typedef boost::shared_ptr < CorrespondenceRejectorFeatures > | Ptr |
typedef boost::shared_ptr < const CorrespondenceRejectorFeatures > | ConstPtr |
Public Member Functions | |
CorrespondenceRejectorFeatures () | |
Empty constructor. | |
virtual | ~CorrespondenceRejectorFeatures () |
Empty destructor. | |
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. | |
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 | |
float | max_distance_ |
The maximum distance threshold between two correspondent points in source <-> target. | |
FeaturesMap | features_map_ |
An STL map containing features to use when performing the correspondence search. |
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.
Definition at line 60 of file correspondence_rejection_features.h.
typedef boost::shared_ptr<const CorrespondenceRejectorFeatures> pcl::registration::CorrespondenceRejectorFeatures::ConstPtr |
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 68 of file correspondence_rejection_features.h.
typedef boost::unordered_map<std::string, boost::shared_ptr<FeatureContainerInterface> > pcl::registration::CorrespondenceRejectorFeatures::FeaturesMap [protected] |
Definition at line 164 of file correspondence_rejection_features.h.
typedef boost::shared_ptr<CorrespondenceRejectorFeatures> pcl::registration::CorrespondenceRejectorFeatures::Ptr |
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 67 of file correspondence_rejection_features.h.
Empty constructor.
Definition at line 71 of file correspondence_rejection_features.h.
virtual pcl::registration::CorrespondenceRejectorFeatures::~CorrespondenceRejectorFeatures | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 77 of file correspondence_rejection_features.h.
void pcl::registration::CorrespondenceRejectorFeatures::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 144 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.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
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.
[in] | key | a string that uniquely identifies the feature (must match the key provided by setSourceFeature) |
Definition at line 55 of file correspondence_rejection_features.hpp.
References pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getSourceFeature().
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.
[in] | key | a string that uniquely identifies the feature (must match the key provided by setTargetFeature) |
Definition at line 75 of file correspondence_rejection_features.hpp.
References pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getTargetFeature().
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)
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.
[in] | thresh | the distance threshold |
[in] | key | a string that uniquely identifies the feature |
Definition at line 85 of file correspondence_rejection_features.hpp.
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.
[in] | key | a string that uniquely identifies the feature |
[in] | fr | the point feature representation to be used |
Definition at line 97 of file correspondence_rejection_features.hpp.
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.
[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 45 of file correspondence_rejection_features.hpp.
References features_map_.
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.
[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 65 of file correspondence_rejection_features.hpp.
An STL map containing features to use when performing the correspondence search.
Definition at line 167 of file correspondence_rejection_features.h.
Referenced by setSourceFeature().
float pcl::registration::CorrespondenceRejectorFeatures::max_distance_ [protected] |
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 152 of file correspondence_rejection_features.h.