Point Cloud Library (PCL)
1.11.0
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42 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/point_cloud.h>
49 namespace registration
69 using Ptr = shared_ptr<CorrespondenceRejectorSurfaceNormal>;
70 using ConstPtr = shared_ptr<const CorrespondenceRejectorSurfaceNormal>;
76 rejection_name_ =
"CorrespondenceRejectorSurfaceNormal";
98 template <
typename Po
intT,
typename NormalT>
inline void
107 template <
typename Po
intT>
108 PCL_DEPRECATED(1, 12,
"pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud is deprecated. Please use setInputSource instead")
112 if (!data_container_)
114 PCL_ERROR (
"[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
117 static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
123 template <
typename Po
intT>
inline void
126 if (!data_container_)
128 PCL_ERROR (
"[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
131 static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
138 if (!data_container_)
140 PCL_ERROR (
"[pcl::registration::%s::getInputSource] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
149 template <
typename Po
intT>
inline void
152 if (!data_container_)
154 PCL_ERROR (
"[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
157 static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
167 template <
typename Po
intT>
inline void
169 bool force_no_recompute =
false)
171 static_pointer_cast< DataContainer<PointT> >
172 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
179 if (!data_container_)
181 PCL_ERROR (
"[pcl::registration::%s::getInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
190 template <
typename Po
intT,
typename NormalT>
inline void
193 if (!data_container_)
195 PCL_ERROR (
"[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
198 static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setInputNormals (normals);
205 if (!data_container_)
207 PCL_ERROR (
"[pcl::registration::%s::getInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
216 template <
typename Po
intT,
typename NormalT>
inline void
219 if (!data_container_)
221 PCL_ERROR (
"[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
224 static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setTargetNormals (normals);
231 if (!data_container_)
233 PCL_ERROR (
"[pcl::registration::%s::getTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
249 if (!data_container_)
250 initializeDataContainer<PointXYZ, Normal> ();
253 setInputSource<PointXYZ> (cloud);
265 if (!data_container_)
266 initializeDataContainer<PointXYZ, Normal> ();
269 setInputTarget<PointXYZ> (cloud);
281 if (!data_container_)
282 initializeDataContainer<PointXYZ, Normal> ();
285 setInputNormals<PointXYZ, Normal> (cloud);
297 if (!data_container_)
298 initializeDataContainer<PointXYZ, Normal> ();
301 setTargetNormals<PointXYZ, Normal> (cloud);
312 getRemainingCorrespondences (*input_correspondences_, correspondences);
325 #include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>
shared_ptr< CorrespondenceRejector > Ptr
double threshold_
The median distance threshold between two correspondent points in source <-> target.
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.
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target normals.
bool requiresTargetNormals() const override
See if this rejector requires target normals.
pcl::PointCloud< PointT >::ConstPtr getInputSource() const
Get the target input point cloud.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
shared_ptr< const CorrespondenceRejector > ConstPtr
pcl::PointCloud< NormalT >::Ptr getTargetNormals() const
Get the normals computed on the target point cloud.
CorrespondenceRejectorSurfaceNormal()
Empty constructor.
const std::string & getClassName() const
Get a string representation of the name of this class.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
PointCloud represents the base class in PCL for storing collections of 3D points.
void setInputNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the input point cloud.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< KdTree< PointT, Tree > > Ptr
shared_ptr< DataContainerInterface > Ptr
double getThreshold() const
Get the thresholding angle between the normals for correspondence rejection.
bool requiresSourceNormals() const override
See if this rejector requires source normals.
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
DataContainerInterface::Ptr DataContainerPtr
DataContainer is a container for the input and target point clouds and implements the interface to co...
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
pcl::PointCloud< PointT >::ConstPtr getInputTarget() const
Get the target input point cloud.
void initializeDataContainer()
Initialize the data container object for the point type and the normal type.
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source normals.
bool requiresSourcePoints() const override
See if this rejector requires source points.
shared_ptr< PointCloud< PointT > > Ptr
void setTargetNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the target point cloud.
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &input)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
void setThreshold(double threshold)
Set the thresholding angle between the normals for correspondence rejection.
shared_ptr< const PointCloud< PointT > > ConstPtr
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
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.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
Defines functions, macros and traits for allocating and using memory.
CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the ...
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
CorrespondenceRejector represents the base class for correspondence rejection methods
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
pcl::PointCloud< NormalT >::Ptr getInputNormals() const
Get the normals computed on the input point cloud.