Point Cloud Library (PCL)
1.11.1
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An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More...
#include <pcl/registration/correspondence_rejection_features.h>
Public Types | |
using | FeatureCloudConstPtr = typename pcl::PointCloud< FeatureT >::ConstPtr |
using | SearchMethod = std::function< int(const pcl::PointCloud< FeatureT > &, int, std::vector< int > &, std::vector< float > &)> |
using | PointRepresentationConstPtr = typename pcl::PointRepresentation< FeatureT >::ConstPtr |
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using | Ptr = shared_ptr< FeatureContainerInterface > |
Public Member Functions | |
FeatureContainer () | |
~FeatureContainer () | |
Empty destructor. More... | |
void | setSourceFeature (const FeatureCloudConstPtr &source_features) |
FeatureCloudConstPtr | getSourceFeature () |
void | setTargetFeature (const FeatureCloudConstPtr &target_features) |
FeatureCloudConstPtr | getTargetFeature () |
void | setDistanceThreshold (double thresh) |
bool | isValid () override |
void | setFeatureRepresentation (const PointRepresentationConstPtr &fr) |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features. More... | |
double | getCorrespondenceScore (int index) override |
Obtain a score between a pair of correspondences. More... | |
bool | isCorrespondenceValid (int index) override |
Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold. More... | |
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virtual | ~FeatureContainerInterface ()=default |
Empty destructor. More... | |
An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search.
This class extends FeatureContainerInterface, which contains abstract methods for any methods that do not depend on the FeatureT — these methods can thus be called from a pointer to FeatureContainerInterface without casting to the derived class.
Definition at line 179 of file correspondence_rejection_features.h.
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureCloudConstPtr = typename pcl::PointCloud<FeatureT>::ConstPtr |
Definition at line 182 of file correspondence_rejection_features.h.
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::PointRepresentationConstPtr = typename pcl::PointRepresentation<FeatureT>::ConstPtr |
Definition at line 185 of file correspondence_rejection_features.h.
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::SearchMethod = std::function<int (const pcl::PointCloud<FeatureT> &, int, std::vector<int> &, std::vector<float> &)> |
Definition at line 183 of file correspondence_rejection_features.h.
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Definition at line 187 of file correspondence_rejection_features.h.
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Empty destructor.
Definition at line 192 of file correspondence_rejection_features.h.
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Obtain a score between a pair of correspondences.
[in] | index | the index to check in the list of correspondences |
Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.
Definition at line 247 of file correspondence_rejection_features.h.
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Definition at line 201 of file correspondence_rejection_features.h.
Referenced by pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature().
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Definition at line 213 of file correspondence_rejection_features.h.
Referenced by pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature().
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Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.
[in] | index | the index to check in the list of correspondences |
Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.
Definition at line 280 of file correspondence_rejection_features.h.
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Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.
Definition at line 225 of file correspondence_rejection_features.h.
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Definition at line 219 of file correspondence_rejection_features.h.
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Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
[in] | fr | the point feature representation to be used |
Definition at line 237 of file correspondence_rejection_features.h.
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Definition at line 195 of file correspondence_rejection_features.h.
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Definition at line 207 of file correspondence_rejection_features.h.