The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. More...

#include <pcl/registration/correspondence_rejection_organized_boundary.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectionOrganizedBoundary:

Collaboration diagram for pcl::registration::CorrespondenceRejectionOrganizedBoundary:

Public Member Functions
	CorrespondenceRejectionOrganizedBoundary ()=default
	Empty constructor. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

void	setNumberOfBoundaryNaNs (int val)

template<typename PointT >
void	setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)

template<typename PointT >
void	setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)

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

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

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

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

virtual bool	updateSource (const Eigen::Matrix4d &)

Public Member Functions inherited from pcl::registration::CorrespondenceRejector
	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...

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	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	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 Types
using	DataContainerPtr = DataContainerInterface::Ptr

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

Protected Attributes
int	boundary_nans_threshold_ {8}

int	window_size_ {5}

float	depth_step_threshold_ {0.025f}

DataContainerPtr	data_container_

Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string	rejection_name_ {}
	The name of the rejection method. More...

CorrespondencesConstPtr	input_correspondences_
	The input correspondences. More...

Additional Inherited Members
Public Types inherited from pcl::registration::CorrespondenceRejector
using	Ptr = shared_ptr< CorrespondenceRejector >

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Detailed Description

The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure.

For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set by the user).

Note: Both the source and the target clouds need to be organized, otherwise all the correspondences will be rejected.

Author: Alexandru E. Ichim

Definition at line 58 of file correspondence_rejection_organized_boundary.h.

Member Typedef Documentation

◆ DataContainerPtr

using pcl::registration::CorrespondenceRejectionOrganizedBoundary::DataContainerPtr = DataContainerInterface::Ptr

protected

Definition at line 146 of file correspondence_rejection_organized_boundary.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectionOrganizedBoundary()

pcl::registration::CorrespondenceRejectionOrganizedBoundary::CorrespondenceRejectionOrganizedBoundary ( )

default

Empty constructor.

Member Function Documentation

◆ applyRejection()

void pcl::registration::CorrespondenceRejectionOrganizedBoundary::applyRejection ( pcl::Correspondences & correspondences )

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 137 of file correspondence_rejection_organized_boundary.h.

◆ getRemainingCorrespondences()

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

overridevirtual

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_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.