Point Cloud Library (PCL)
1.11.1-dev
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42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/conversions.h>
45 #include <pcl/point_cloud.h>
48 namespace registration {
66 using Ptr = shared_ptr<CorrespondenceRejectorSurfaceNormal>;
67 using ConstPtr = shared_ptr<const CorrespondenceRejectorSurfaceNormal>;
72 rejection_name_ =
"CorrespondenceRejectorSurfaceNormal";
91 threshold_ = threshold;
104 template <
typename Po
intT,
typename NormalT>
114 template <
typename Po
intT>
118 if (!data_container_) {
120 "[pcl::registration::%s::setInputCloud] Initialize the data container object "
121 "by calling intializeDataContainer () before using this function.\n",
122 getClassName().c_str());
125 static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputSource(input);
129 template <
typename Po
intT>
133 if (!data_container_) {
135 "[pcl::registration::%s::getInputSource] Initialize the data container "
136 "object by calling intializeDataContainer () before using this function.\n",
137 getClassName().c_str());
147 template <
typename Po
intT>
151 if (!data_container_) {
153 "[pcl::registration::%s::setInputTarget] Initialize the data container "
154 "object by calling intializeDataContainer () before using this function.\n",
155 getClassName().c_str());
158 static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputTarget(target);
168 template <
typename Po
intT>
171 bool force_no_recompute =
false)
173 static_pointer_cast<DataContainer<PointT>>(data_container_)
174 ->setSearchMethodTarget(tree, force_no_recompute);
178 template <
typename Po
intT>
182 if (!data_container_) {
184 "[pcl::registration::%s::getInputTarget] Initialize the data container "
185 "object by calling intializeDataContainer () before using this function.\n",
186 getClassName().c_str());
196 template <
typename Po
intT,
typename NormalT>
200 if (!data_container_) {
202 "[pcl::registration::%s::setInputNormals] Initialize the data container "
203 "object by calling intializeDataContainer () before using this function.\n",
204 getClassName().c_str());
207 static_pointer_cast<DataContainer<PointT, NormalT>>(data_container_)
208 ->setInputNormals(normals);
212 template <
typename NormalT>
216 if (!data_container_) {
218 "[pcl::registration::%s::getInputNormals] Initialize the data container "
219 "object by calling intializeDataContainer () before using this function.\n",
220 getClassName().c_str());
224 ->getInputNormals());
230 template <
typename Po
intT,
typename NormalT>
234 if (!data_container_) {
236 "[pcl::registration::%s::setTargetNormals] Initialize the data container "
237 "object by calling intializeDataContainer () before using this function.\n",
238 getClassName().c_str());
241 static_pointer_cast<DataContainer<PointT, NormalT>>(data_container_)
242 ->setTargetNormals(normals);
246 template <
typename NormalT>
250 if (!data_container_) {
252 "[pcl::registration::%s::getTargetNormals] Initialize the data container "
253 "object by calling intializeDataContainer () before using this function.\n",
254 getClassName().c_str());
258 ->getTargetNormals());
272 if (!data_container_)
273 initializeDataContainer<PointXYZ, Normal>();
276 setInputSource<PointXYZ>(cloud);
290 if (!data_container_)
291 initializeDataContainer<PointXYZ, Normal>();
294 setInputTarget<PointXYZ>(cloud);
308 if (!data_container_)
309 initializeDataContainer<PointXYZ, Normal>();
312 setInputNormals<PointXYZ, Normal>(cloud);
326 if (!data_container_)
327 initializeDataContainer<PointXYZ, Normal>();
330 setTargetNormals<PointXYZ, Normal>(cloud);
340 getRemainingCorrespondences(*input_correspondences_, correspondences);
355 #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 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.
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...
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.