CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...

#include <pcl/registration/correspondence_rejection_features.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures:

Collaboration diagram for pcl::registration::CorrespondenceRejectorFeatures:

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
using	Ptr = shared_ptr< CorrespondenceRejectorFeatures >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorFeatures >

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

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorFeatures ()
	Empty constructor. More...

	~CorrespondenceRejectorFeatures () override=default
	Empty destructor. 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...

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. More...

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. More...

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. More...

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. More...

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. More...

bool	hasValidFeatures ()
	Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method) More...

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. More...

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	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 Types
using	FeaturesMap = std::unordered_map< std::string, FeatureContainerInterface::Ptr >

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

Protected Attributes
float	max_distance_
	The maximum distance threshold between two correspondent points in source <-> target. More...

FeaturesMap	features_map_
	An STL map containing features to use when performing the correspondence search. More...

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...

Detailed Description

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.

Todo:: explain this better.

Author: Radu B. Rusu

Definition at line 58 of file correspondence_rejection_features.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 65 of file correspondence_rejection_features.h.

◆ FeaturesMap

using pcl::registration::CorrespondenceRejectorFeatures::FeaturesMap = std::unordered_map<std::string, FeatureContainerInterface::Ptr>

protected

Definition at line 176 of file correspondence_rejection_features.h.

◆ Ptr

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

Definition at line 64 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorFeatures()

pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures ( )

inline

Empty constructor.

Definition at line 68 of file correspondence_rejection_features.h.

◆ ~CorrespondenceRejectorFeatures()

pcl::registration::CorrespondenceRejectorFeatures::~CorrespondenceRejectorFeatures ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ applyRejection()

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

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 151 of file correspondence_rejection_features.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorFeatures::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.

Parameters

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

Implements pcl::registration::CorrespondenceRejector.

◆ getSourceFeature()

template<typename FeatureT >

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.

Parameters

[in] key a string that uniquely identifies the feature (must match the key provided by setSourceFeature)

Definition at line 64 of file correspondence_rejection_features.hpp.

References features_map_.

◆ getTargetFeature()

template<typename FeatureT >

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.

Parameters

[in] key a string that uniquely identifies the feature (must match the key provided by setTargetFeature)

Definition at line 86 of file correspondence_rejection_features.hpp.

References features_map_.

◆ hasValidFeatures()

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)

◆ setDistanceThreshold()

template<typename FeatureT >

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.

Parameters

[in]	thresh	the distance threshold
[in]	key	a string that uniquely identifies the feature

Definition at line 96 of file correspondence_rejection_features.hpp.

References features_map_.

◆ setFeatureRepresentation()

template<typename FeatureT >

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.

Parameters

[in]	key	a string that uniquely identifies the feature
[in]	fr	the point feature representation to be used

Definition at line 107 of file correspondence_rejection_features.hpp.

References features_map_.

◆ setSourceFeature()

template<typename FeatureT >

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.

Parameters

[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 52 of file correspondence_rejection_features.hpp.

References features_map_.

◆ setTargetFeature()

template<typename FeatureT >

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.

Parameters

[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 74 of file correspondence_rejection_features.hpp.

References features_map_.

Member Data Documentation

◆ features_map_

FeaturesMap pcl::registration::CorrespondenceRejectorFeatures::features_map_

protected

An STL map containing features to use when performing the correspondence search.

Definition at line 180 of file correspondence_rejection_features.h.

Referenced by getSourceFeature(), getTargetFeature(), setDistanceThreshold(), setFeatureRepresentation(), setSourceFeature(), and setTargetFeature().

◆ max_distance_

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 160 of file correspondence_rejection_features.h.

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

pcl/registration/correspondence_rejection_features.h
pcl/registration/impl/correspondence_rejection_features.hpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ FeaturesMap

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorFeatures()

◆ ~CorrespondenceRejectorFeatures()

Member Function Documentation

◆ applyRejection()

◆ getRemainingCorrespondences()

◆ getSourceFeature()

◆ getTargetFeature()

◆ hasValidFeatures()

◆ setDistanceThreshold()

◆ setFeatureRepresentation()

◆ setSourceFeature()

◆ setTargetFeature()

Member Data Documentation

◆ features_map_

◆ max_distance_