Point Cloud Library (PCL)  1.13.0-dev
List of all members | Public Member Functions
pcl::registration::DataContainer< PointT, NormalT > Class Template Reference

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]corrCorrespondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 366 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]indexindex of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 350 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]corrCorrespondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 380 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 325 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 276 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 294 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 341 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]normalsthe normals computed for the input cloud

Definition at line 318 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]clouda cloud containing XYZ data

Definition at line 269 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]targeta cloud containing XYZ data

Definition at line 286 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]treea pointer to the spatial search object.
[in]force_no_recomputeIf 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 307 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]normalsthe normals computed for the input cloud

Definition at line 334 of file correspondence_rejection.h.


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