DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds More...

#include <pcl/registration/correspondence_rejection.h>

Inheritance diagram for pcl::registration::DataContainer< PointT, NormalT >:

Collaboration diagram for pcl::registration::DataContainer< PointT, NormalT >:

Public Member Functions
	DataContainer (bool needs_normals=false)
	Empty constructor. More...

	~DataContainer () override=default
	Empty destructor. More...

void	setInputSource (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

PointCloudConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...

void	setInputTarget (const PointCloudConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

PointCloudConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...

void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

void	setInputNormals (const NormalsConstPtr &normals)
	Set the normals computed on the input point cloud. More...

NormalsConstPtr	getInputNormals ()
	Get the normals computed on the input point cloud. More...

void	setTargetNormals (const NormalsConstPtr &normals)
	Set the normals computed on the target point cloud. More...

NormalsConstPtr	getTargetNormals ()
	Get the normals computed on the target point cloud. More...

double	getCorrespondenceScore (int index) override
	Get the correspondence score for a point in the input cloud. More...

double	getCorrespondenceScore (const pcl::Correspondence &corr) override
	Get the correspondence score for a given pair of correspondent points. More...

double	getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr) override
	Get the correspondence score for a given pair of correspondent points based on the angle between the normals. More...

Public Member Functions inherited from pcl::registration::DataContainerInterface
virtual	~DataContainerInterface ()=default

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

using	ConstPtr = shared_ptr< const DataContainerInterface >

Detailed Description

template<typename PointT, typename NormalT = pcl::PointNormal>
class pcl::registration::DataContainer< PointT, NormalT >

DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds

Definition at line 234 of file correspondence_rejection.h.

Constructor & Destructor Documentation

◆ DataContainer()

template<typename PointT , typename NormalT = pcl::PointNormal>

pcl::registration::DataContainer< PointT, NormalT >::DataContainer ( bool needs_normals = false )

inline

Empty constructor.

Definition at line 247 of file correspondence_rejection.h.

◆ ~DataContainer()

template<typename PointT , typename NormalT = pcl::PointNormal>

pcl::registration::DataContainer< PointT, NormalT >::~DataContainer ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ getCorrespondenceScore() [1/2]

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( const pcl::Correspondence & corr )

inlineoverridevirtual

Get the correspondence score for a given pair of correspondent points.

Parameters

[in] corr Correspondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 364 of file correspondence_rejection.h.

References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

◆ getCorrespondenceScore() [2/2]

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( int index )

inlineoverridevirtual

Get the correspondence score for a point in the input cloud.

Parameters

[in] index index of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 348 of file correspondence_rejection.h.

◆ getCorrespondenceScoreFromNormals()

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScoreFromNormals ( const pcl::Correspondence & corr )

inlineoverridevirtual

Get the correspondence score for a given pair of correspondent points based on the angle between the normals.

The normmals for the in put and target clouds must be set before using this function

Parameters

[in] corr Correspondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 378 of file correspondence_rejection.h.

References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

◆ getInputNormals()

template<typename PointT , typename NormalT = pcl::PointNormal>

NormalsConstPtr pcl::registration::DataContainer< PointT, NormalT >::getInputNormals ( )

inline

Get the normals computed on the input point cloud.

Definition at line 323 of file correspondence_rejection.h.

◆ getInputSource()

template<typename PointT , typename NormalT = pcl::PointNormal>

PointCloudConstPtr const pcl::registration::DataContainer< PointT, NormalT >::getInputSource ( )

inline

Get a pointer to the input point cloud dataset target.

Definition at line 274 of file correspondence_rejection.h.

◆ getInputTarget()

template<typename PointT , typename NormalT = pcl::PointNormal>

PointCloudConstPtr const pcl::registration::DataContainer< PointT, NormalT >::getInputTarget ( )

inline

Get a pointer to the input point cloud dataset target.

Definition at line 292 of file correspondence_rejection.h.

◆ getTargetNormals()

template<typename PointT , typename NormalT = pcl::PointNormal>

NormalsConstPtr pcl::registration::DataContainer< PointT, NormalT >::getTargetNormals ( )

inline

Get the normals computed on the target point cloud.

Definition at line 339 of file correspondence_rejection.h.

◆ setInputNormals()

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputNormals ( const NormalsConstPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 316 of file correspondence_rejection.h.

◆ setInputSource()

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputSource ( const PointCloudConstPtr & cloud )

inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] cloud a cloud containing XYZ data

Definition at line 267 of file correspondence_rejection.h.

◆ setInputTarget()

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputTarget ( const PointCloudConstPtr & 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 284 of file correspondence_rejection.h.

◆ setSearchMethodTarget()

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setSearchMethodTarget	(	const KdTreePtr &	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 305 of file correspondence_rejection.h.

◆ setTargetNormals()

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setTargetNormals ( const NormalsConstPtr & normals )

inline

Set the normals computed on the target point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 332 of file correspondence_rejection.h.

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

pcl/registration/correspondence_rejection.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename NormalT = pcl::PointNormal> class pcl::registration::DataContainer< PointT, NormalT >

Constructor & Destructor Documentation

◆ DataContainer()

◆ ~DataContainer()

Member Function Documentation

◆ getCorrespondenceScore() [1/2]

◆ getCorrespondenceScore() [2/2]

◆ getCorrespondenceScoreFromNormals()

◆ getInputNormals()

◆ getInputSource()

◆ getInputTarget()

◆ getTargetNormals()

◆ setInputNormals()

◆ setInputSource()

◆ setInputTarget()

◆ setSearchMethodTarget()

◆ setTargetNormals()

template<typename PointT, typename NormalT = pcl::PointNormal>
class pcl::registration::DataContainer< PointT, NormalT >