#include <correspondence_rejection_surface_normal2.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >:

Public Types
typedef boost::shared_ptr< CorrespondenceRejectorSurfaceNormal2 >	Ptr

typedef boost::shared_ptr< const CorrespondenceRejectorSurfaceNormal2 >	ConstPtr

Public Member Functions
	CorrespondenceRejectorSurfaceNormal2 ()
	Empty constructor. Sets the threshold to 1.0. More...

void	setThreshold (double threshold)
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

double	getThreshold () const
	Get the thresholding angle between the normals for correspondence rejection. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)

void	initializeDataContainer ()
	Initialize the data container object for the point type and the normal type. More...

void	setInputCloud (const typename pcl::PointCloud< PointWithNormalT >::ConstPtr &input)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

void	setInputSource (const typename pcl::PointCloud< PointWithNormalT >::ConstPtr &input)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

pcl::PointCloud< PointWithNormalT >::ConstPtr	getInputSource () const
	Get the target input point cloud. More...

void	setInputTarget (const typename pcl::PointCloud< PointWithNormalT >::ConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

void	setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointWithNormalT > > &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

pcl::PointCloud< PointWithNormalT >::ConstPtr	getInputTarget () const
	Get the target input point cloud. More...

void	setInputNormals (const typename pcl::PointCloud< PointWithNormalT >::ConstPtr &normals)
	Set the normals computed on the input point cloud. More...

pcl::PointCloud< PointWithNormalT >::Ptr	getInputNormals () const
	Get the normals computed on the input point cloud. More...

void	setTargetNormals (const typename pcl::PointCloud< PointWithNormalT >::ConstPtr &normals)
	Set the normals computed on the target point cloud. More...

pcl::PointCloud< PointWithNormalT >::Ptr	getTargetNormals () const
	Get the normals computed on the target point cloud. More...

bool	requiresSourcePoints () const
	See if this rejector requires source points. More...

void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
	Blob method for setting the source cloud. More...

bool	requiresTargetPoints () const
	See if this rejector requires a target cloud. More...

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
	Method for setting the target cloud. More...

bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...

void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
	Blob method for setting the source normals. More...

bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...

void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
	Method for setting the target normals. More...

Protected Types
typedef boost::shared_ptr< DataContainerInterface >	DataContainerPtr

Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm. More...

Protected Attributes
double	threshold_
	The median distance threshold between two correspondent points in source <-> target. More...

DataContainerPtr	data_container_
	A pointer to the DataContainer object containing the input and target point clouds. More...

Detailed Description

template<typename PointWithNormalT>
class pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >

CorrespondenceRejectorSurfaceNormal2 implements a simple correspondence rejection method based on the angle between the normals at correspondent points.

Note: If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.

Author: Aravindhan K Krishnan (original code from libpointmatcher: https://github.com/ethz-asl/libpointmatcher)

Member Typedef Documentation

◆ ConstPtr

template<typename PointWithNormalT >

typedef boost::shared_ptr<const CorrespondenceRejectorSurfaceNormal2> pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::ConstPtr

◆ DataContainerPtr

template<typename PointWithNormalT >

typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::DataContainerPtr

protected

◆ Ptr

template<typename PointWithNormalT >

typedef boost::shared_ptr<CorrespondenceRejectorSurfaceNormal2> pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorSurfaceNormal2()

template<typename PointWithNormalT >

pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::CorrespondenceRejectorSurfaceNormal2 ( )

inline

Empty constructor. Sets the threshold to 1.0.

Member Function Documentation

◆ applyRejection()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::applyRejection ( pcl::Correspondences & correspondences )

inlineprotected

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

◆ getInputNormals()

template<typename PointWithNormalT >

pcl::PointCloud<PointWithNormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getInputNormals ( ) const

inline

Get the normals computed on the input point cloud.

◆ getInputSource()

template<typename PointWithNormalT >

pcl::PointCloud<PointWithNormalT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getInputSource ( ) const

inline

Get the target input point cloud.

◆ getInputTarget()

template<typename PointWithNormalT >

pcl::PointCloud<PointWithNormalT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getInputTarget ( ) const

inline

Get the target input point cloud.

◆ getRemainingCorrespondences()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

inline

◆ getTargetNormals()

template<typename PointWithNormalT >

pcl::PointCloud<PointWithNormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getTargetNormals ( ) const

inline

Get the normals computed on the target point cloud.

◆ getThreshold()

template<typename PointWithNormalT >

double pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::getThreshold ( ) const

inline

Get the thresholding angle between the normals for correspondence rejection.

◆ initializeDataContainer()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::initializeDataContainer ( )

inline

Initialize the data container object for the point type and the normal type.

◆ requiresSourceNormals()

template<typename PointWithNormalT >

bool pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::requiresSourceNormals ( ) const

inline

See if this rejector requires source normals.

◆ requiresSourcePoints()

template<typename PointWithNormalT >

bool pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::requiresSourcePoints ( ) const

inline

See if this rejector requires source points.

◆ requiresTargetNormals()

template<typename PointWithNormalT >

bool pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::requiresTargetNormals ( ) const

inline

See if this rejector requires target normals.

◆ requiresTargetPoints()

template<typename PointWithNormalT >

bool pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::requiresTargetPoints ( ) const

inline

See if this rejector requires a target cloud.

◆ setInputCloud()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setInputCloud ( const typename pcl::PointCloud< PointWithNormalT >::ConstPtr & input )

inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] input a cloud containing XYZ data

◆ setInputNormals()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setInputNormals ( const typename pcl::PointCloud< PointWithNormalT >::ConstPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

◆ setInputSource()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setInputSource ( const typename pcl::PointCloud< PointWithNormalT >::ConstPtr & input )

inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] input a cloud containing XYZ data

◆ setInputTarget()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setInputTarget ( const typename pcl::PointCloud< PointWithNormalT >::ConstPtr & target )

inline

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] target a cloud containing XYZ data

◆ setSearchMethodTarget()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setSearchMethodTarget	(	const boost::shared_ptr< pcl::search::KdTree< PointWithNormalT > > &	tree,
		bool	force_no_recompute = `false`
	)

inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

◆ setSourceNormals()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inline

Blob method for setting the source normals.

◆ setSourcePoints()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inline

Blob method for setting the source cloud.

◆ setTargetNormals() [1/2]

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setTargetNormals ( const typename pcl::PointCloud< PointWithNormalT >::ConstPtr & normals )

inline

Set the normals computed on the target point cloud.

Parameters

[in] normals the normals computed for the input cloud

◆ setTargetNormals() [2/2]

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inline

Method for setting the target normals.

◆ setTargetPoints()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inline

Method for setting the target cloud.

◆ setThreshold()

template<typename PointWithNormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::setThreshold ( double threshold )

inline

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

Set the thresholding angle between the normals for correspondence rejection.

Parameters

[in] threshold cosine of the thresholding angle between the normals for rejection

Member Data Documentation

◆ data_container_

template<typename PointWithNormalT >

DataContainerPtr pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::data_container_

protected

A pointer to the DataContainer object containing the input and target point clouds.

◆ threshold_

template<typename PointWithNormalT >

double pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >::threshold_

protected

The median distance threshold between two correspondent points in source <-> target.

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

localization/point_cloud_common/include/point_cloud_common/correspondence_rejection_surface_normal2.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointWithNormalT> class pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >

Member Typedef Documentation

◆ ConstPtr

◆ DataContainerPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorSurfaceNormal2()

Member Function Documentation

◆ applyRejection()

◆ getInputNormals()

◆ getInputSource()

◆ getInputTarget()

◆ getRemainingCorrespondences()

◆ getTargetNormals()

◆ getThreshold()

◆ initializeDataContainer()

◆ requiresSourceNormals()

◆ requiresSourcePoints()

◆ requiresTargetNormals()

◆ requiresTargetPoints()

◆ setInputCloud()

◆ setInputNormals()

◆ setInputSource()

◆ setInputTarget()

◆ setSearchMethodTarget()

◆ setSourceNormals()

◆ setSourcePoints()

◆ setTargetNormals() [1/2]

◆ setTargetNormals() [2/2]

◆ setTargetPoints()

◆ setThreshold()

Member Data Documentation

◆ data_container_

◆ threshold_

template<typename PointWithNormalT>
class pcl::registration::CorrespondenceRejectorSurfaceNormal2< PointWithNormalT >