Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT > Class Template Reference

An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More...

#include <pcl/registration/correspondence_rejection_features.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >:
+ Collaboration diagram for pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >:

Public Types

using FeatureCloudConstPtr = typename pcl::PointCloud< FeatureT >::ConstPtr
 
using SearchMethod = std::function< int(const pcl::PointCloud< FeatureT > &, int, pcl::Indices &, std::vector< float > &)>
 
using PointRepresentationConstPtr = typename pcl::PointRepresentation< FeatureT >::ConstPtr
 

Public Member Functions

 FeatureContainer ()
 
 ~FeatureContainer () override=default
 Empty destructor. More...
 
void setSourceFeature (const FeatureCloudConstPtr &source_features)
 
FeatureCloudConstPtr getSourceFeature ()
 
void setTargetFeature (const FeatureCloudConstPtr &target_features)
 
FeatureCloudConstPtr getTargetFeature ()
 
void setDistanceThreshold (double thresh)
 
bool isValid () override
 
void setFeatureRepresentation (const PointRepresentationConstPtr &fr)
 Provide a boost shared pointer to a PointRepresentation to be used when comparing features. More...
 
double getCorrespondenceScore (int index) override
 Obtain a score between a pair of correspondences. More...
 
bool isCorrespondenceValid (int index) override
 Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold. More...
 

Detailed Description

template<typename FeatureT>
class pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >

An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search.

This class extends FeatureContainerInterface, which contains abstract methods for any methods that do not depend on the FeatureT — these methods can thus be called from a pointer to FeatureContainerInterface without casting to the derived class.

Definition at line 189 of file correspondence_rejection_features.h.

Member Typedef Documentation

◆ FeatureCloudConstPtr

template<typename FeatureT >
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureCloudConstPtr = typename pcl::PointCloud<FeatureT>::ConstPtr

Definition at line 192 of file correspondence_rejection_features.h.

◆ PointRepresentationConstPtr

template<typename FeatureT >
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::PointRepresentationConstPtr = typename pcl::PointRepresentation<FeatureT>::ConstPtr

Definition at line 196 of file correspondence_rejection_features.h.

◆ SearchMethod

template<typename FeatureT >
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::SearchMethod = std::function<int( const pcl::PointCloud<FeatureT>&, int, pcl::Indices&, std::vector<float>&)>

Definition at line 193 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

◆ FeatureContainer()

template<typename FeatureT >
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureContainer ( )
inline

Definition at line 199 of file correspondence_rejection_features.h.

◆ ~FeatureContainer()

template<typename FeatureT >
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::~FeatureContainer ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ getCorrespondenceScore()

template<typename FeatureT >
double pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getCorrespondenceScore ( int  index)
inlineoverride

Obtain a score between a pair of correspondences.

Parameters
[in]indexthe index to check in the list of correspondences
Returns
score the resultant computed score

Definition at line 258 of file correspondence_rejection_features.h.

◆ getSourceFeature()

template<typename FeatureT >
FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getSourceFeature ( )
inline

Definition at line 213 of file correspondence_rejection_features.h.

◆ getTargetFeature()

template<typename FeatureT >
FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getTargetFeature ( )
inline

Definition at line 225 of file correspondence_rejection_features.h.

◆ isCorrespondenceValid()

template<typename FeatureT >
bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isCorrespondenceValid ( int  index)
inlineoverride

Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.

Parameters
[in]indexthe index to check in the list of correspondences
Returns
true if the correspondence is good, false otherwise

Definition at line 296 of file correspondence_rejection_features.h.

◆ isValid()

template<typename FeatureT >
bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isValid ( )
inlineoverride

Definition at line 237 of file correspondence_rejection_features.h.

◆ setDistanceThreshold()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setDistanceThreshold ( double  thresh)
inline

Definition at line 231 of file correspondence_rejection_features.h.

◆ setFeatureRepresentation()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setFeatureRepresentation ( const PointRepresentationConstPtr &  fr)
inline

Provide a boost shared pointer to a PointRepresentation to be used when comparing features.

Parameters
[in]frthe point feature representation to be used

Definition at line 248 of file correspondence_rejection_features.h.

◆ setSourceFeature()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setSourceFeature ( const FeatureCloudConstPtr &  source_features)
inline

Definition at line 207 of file correspondence_rejection_features.h.

◆ setTargetFeature()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setTargetFeature ( const FeatureCloudConstPtr &  target_features)
inline

Definition at line 219 of file correspondence_rejection_features.h.

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