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

#include <pcl/registration/correspondence_rejection_surface_normal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Collaboration diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorSurfaceNormal >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorSurfaceNormal >

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

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorSurfaceNormal ()
	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	setThreshold (double threshold)
	Set the thresholding angle between the normals for correspondence rejection. More...

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

template<typename PointT , typename NormalT >
void	initializeDataContainer ()
	Initialize the data container object for the point type and the normal type. More...

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

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

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

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

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

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

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

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

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

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...

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

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

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

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

Protected Types
using	DataContainerPtr = DataContainerInterface::Ptr

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

Protected Attributes
double	threshold_ {1.0}
	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...

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

CorrespondenceRejectorSurfaceNormal 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)

Definition at line 60 of file correspondence_rejection_surface_normal.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 67 of file correspondence_rejection_surface_normal.h.

◆ DataContainerPtr

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

protected

Definition at line 347 of file correspondence_rejection_surface_normal.h.

◆ Ptr

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

Definition at line 66 of file correspondence_rejection_surface_normal.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorSurfaceNormal()

pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal ( )

inline

Empty constructor.

Sets the threshold to 1.0.

Definition at line 70 of file correspondence_rejection_surface_normal.h.

Member Function Documentation

◆ applyRejection()

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

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 338 of file correspondence_rejection_surface_normal.h.

◆ getInputNormals()

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputNormals ( ) const

inline

Get the normals computed on the input point cloud.

Definition at line 214 of file correspondence_rejection_surface_normal.h.

◆ getInputSource()

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputSource ( ) const

inline

Get the target input point cloud.

Definition at line 131 of file correspondence_rejection_surface_normal.h.

◆ getInputTarget()

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputTarget ( ) const

inline

Get the target input point cloud.

Definition at line 180 of file correspondence_rejection_surface_normal.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorSurfaceNormal::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.

◆ getTargetNormals()

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getTargetNormals ( ) const

inline

Get the normals computed on the target point cloud.

Definition at line 248 of file correspondence_rejection_surface_normal.h.

◆ getThreshold()

double pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold ( ) const

inline

Get the thresholding angle between the normals for correspondence rejection.

Definition at line 97 of file correspondence_rejection_surface_normal.h.

◆ initializeDataContainer()

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::initializeDataContainer ( )

inline

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

Definition at line 106 of file correspondence_rejection_surface_normal.h.

◆ requiresSourceNormals()

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourceNormals ( ) const

inlineoverridevirtual

See if this rejector requires source normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 299 of file correspondence_rejection_surface_normal.h.

◆ requiresSourcePoints()

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourcePoints ( ) const

inlineoverridevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 263 of file correspondence_rejection_surface_normal.h.

◆ requiresTargetNormals()

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetNormals ( ) const

inlineoverridevirtual

See if this rejector requires target normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 317 of file correspondence_rejection_surface_normal.h.

◆ requiresTargetPoints()

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetPoints ( ) const

inlineoverridevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 281 of file correspondence_rejection_surface_normal.h.

◆ setInputNormals()

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 198 of file correspondence_rejection_surface_normal.h.

◆ setInputSource()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource ( const typename pcl::PointCloud< PointT >::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

Definition at line 116 of file correspondence_rejection_surface_normal.h.

◆ setInputTarget()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputTarget ( const typename pcl::PointCloud< PointT >::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

Definition at line 149 of file correspondence_rejection_surface_normal.h.

◆ setSearchMethodTarget()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setSearchMethodTarget	(	const typename pcl::search::KdTree< PointT >::Ptr &	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.

Definition at line 170 of file correspondence_rejection_surface_normal.h.