Point Cloud Library (PCL)
1.9.1
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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>
Public Member Functions | |
DataContainer (bool needs_normals=false) | |
Empty constructor. More... | |
virtual | ~DataContainer () |
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) |
Get the correspondence score for a point in the input cloud. More... | |
double | getCorrespondenceScore (const pcl::Correspondence &corr) |
Get the correspondence score for a given pair of correspondent points. More... | |
double | getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr) |
Get the correspondence score for a given pair of correspondent points based on the angle between the normals. More... | |
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virtual | ~DataContainerInterface () |
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 216 of file correspondence_rejection.h.
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inline |
Empty constructor.
Definition at line 231 of file correspondence_rejection.h.
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inlinevirtual |
Empty destructor.
Definition at line 247 of file correspondence_rejection.h.
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inlinevirtual |
Get the correspondence score for a point in the input cloud.
[in] | index | index of the point in the input cloud |
Implements pcl::registration::DataContainerInterface.
Definition at line 321 of file correspondence_rejection.h.
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inlinevirtual |
Get the correspondence score for a given pair of correspondent points.
[in] | corr | Correspondent points |
Implements pcl::registration::DataContainerInterface.
Definition at line 339 of file correspondence_rejection.h.
References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
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inlinevirtual |
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
[in] | corr | Correspondent points |
Implements pcl::registration::DataContainerInterface.
Definition at line 354 of file correspondence_rejection.h.
References pcl::registration::CorrespondenceRejector::getClassName(), pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
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Get the normals computed on the input point cloud.
Definition at line 305 of file correspondence_rejection.h.
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Get a pointer to the input point cloud dataset target.
Definition at line 261 of file correspondence_rejection.h.
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Get a pointer to the input point cloud dataset target.
Definition at line 276 of file correspondence_rejection.h.
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Get the normals computed on the target point cloud.
Definition at line 315 of file correspondence_rejection.h.
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Set the normals computed on the input point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 301 of file correspondence_rejection.h.
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Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 254 of file correspondence_rejection.h.
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Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | target | a cloud containing XYZ data |
Definition at line 268 of file correspondence_rejection.h.
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Provide a pointer to the search object used to find correspondences in the target cloud.
[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 286 of file correspondence_rejection.h.
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Set the normals computed on the target point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 311 of file correspondence_rejection.h.