Point Cloud Library (PCL)
1.11.0
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The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. More...
#include <pcl/registration/correspondence_rejection_organized_boundary.h>
Public Member Functions | |
CorrespondenceRejectionOrganizedBoundary () | |
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 | setNumberOfBoundaryNaNs (int val) |
template<typename PointT > | |
void | setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
template<typename PointT > | |
void | setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
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... | |
virtual bool | updateSource (const Eigen::Matrix4d &) |
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CorrespondenceRejector () | |
Empty constructor. More... | |
virtual | ~CorrespondenceRejector () |
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, std::vector< int > &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... | |
virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... | |
virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source normals. More... | |
virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... | |
virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target normals. More... | |
Protected Types | |
using | DataContainerPtr = DataContainerInterface::Ptr |
Protected Member Functions | |
void | applyRejection (pcl::Correspondences &correspondences) override |
Apply the rejection algorithm. More... | |
Protected Attributes | |
int | boundary_nans_threshold_ |
int | window_size_ |
float | depth_step_threshold_ |
DataContainerPtr | data_container_ |
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std::string | rejection_name_ |
The name of the rejection method. More... | |
CorrespondencesConstPtr | input_correspondences_ |
The input correspondences. More... | |
Additional Inherited Members | |
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using | Ptr = shared_ptr< CorrespondenceRejector > |
using | ConstPtr = shared_ptr< const CorrespondenceRejector > |
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure.
For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set by the user).
Definition at line 58 of file correspondence_rejection_organized_boundary.h.
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protected |
Definition at line 138 of file correspondence_rejection_organized_boundary.h.
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inline |
Empty constructor.
Definition at line 62 of file correspondence_rejection_organized_boundary.h.
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inlineoverrideprotectedvirtual |
Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 131 of file correspondence_rejection_organized_boundary.h.
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overridevirtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
Pure virtual. Compared to getCorrespondences this function is stateless, i.e., input correspondences do not need to be provided beforehand, but are directly provided in the function call.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
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inlineoverridevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 95 of file correspondence_rejection_organized_boundary.h.
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inlineoverridevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 109 of file correspondence_rejection_organized_boundary.h.
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inline |
Definition at line 78 of file correspondence_rejection_organized_boundary.h.
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inline |
Definition at line 86 of file correspondence_rejection_organized_boundary.h.
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inline |
Definition at line 73 of file correspondence_rejection_organized_boundary.h.
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inlineoverridevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 100 of file correspondence_rejection_organized_boundary.h.
References pcl::fromPCLPointCloud2().
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inlineoverridevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 114 of file correspondence_rejection_organized_boundary.h.
References pcl::fromPCLPointCloud2().
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inlinevirtual |
Definition at line 122 of file correspondence_rejection_organized_boundary.h.
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protected |
Definition at line 134 of file correspondence_rejection_organized_boundary.h.
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protected |
Definition at line 139 of file correspondence_rejection_organized_boundary.h.
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protected |
Definition at line 136 of file correspondence_rejection_organized_boundary.h.
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protected |
Definition at line 135 of file correspondence_rejection_organized_boundary.h.