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.

virtual	~CorrespondenceRejector ()=default
	Empty destructor.

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.

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.

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.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

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

virtual void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source cloud.

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

virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals.

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

virtual void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target cloud.

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

virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals.

Protected Member Functions
virtual void	applyRejection (Correspondences &correspondences)=0
	Abstract rejection method.

Protected Attributes
std::string	rejection_name_ {}
	The name of the rejection method.

CorrespondencesConstPtr	input_correspondences_
	The input correspondences.

Detailed Description

CorrespondenceRejector represents the base class for correspondence rejection methods

Author: Dirk Holz

Definition at line 56 of file correspondence_rejection.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::registration::CorrespondenceRejector::ConstPtr = shared_ptr<const CorrespondenceRejector>

Definition at line 59 of file correspondence_rejection.h.

◆ Ptr

using pcl::registration::CorrespondenceRejector::Ptr = shared_ptr<CorrespondenceRejector>

Definition at line 58 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

Abstract rejection method.

Referenced by getCorrespondences().

◆ getClassName()

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

inline

Get a string representation of the name of this class.

Definition at line 133 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] correspondences Vector of correspondences that have not been rejected.

Definition at line 89 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 80 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]	correspondences	Vector of correspondences after rejection
[out]	indices	Vector of query point indices of those correspondences that have been rejected.

Definition at line 118 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_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences