42#include <pcl/registration/correspondence_rejection.h>
43#include <pcl/conversions.h>
45#include <pcl/point_cloud.h>
48namespace registration {
61 using CorrespondenceRejector::getClassName;
62 using CorrespondenceRejector::input_correspondences_;
63 using CorrespondenceRejector::rejection_name_;
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());
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());
168 template <
typename Po
intT>
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());
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());
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_)
290 if (!data_container_)
308 if (!data_container_)
326 if (!data_container_)
340 getRemainingCorrespondences(*input_correspondences_, correspondences);
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
CorrespondenceRejector represents the base class for correspondence rejection methods
CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the ...
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...
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
double getThreshold() const
Get the thresholding angle between the normals for correspondence rejection.
DataContainerInterface::Ptr DataContainerPtr
void initializeDataContainer()
Initialize the data container object for the point type and the normal type.
double threshold_
The median distance threshold between two correspondent points in source <-> target.
void setTargetNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the target point cloud.
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target normals.
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.
bool requiresTargetNormals() const override
See if this rejector requires target normals.
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 setInputNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the input point cloud.
void setThreshold(double threshold)
Set the thresholding angle between the normals for correspondence rejection.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
bool requiresSourcePoints() const override
See if this rejector requires source points.
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source normals.
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
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.
CorrespondenceRejectorSurfaceNormal()
Empty constructor.
pcl::PointCloud< NormalT >::Ptr getInputNormals() const
Get the normals computed on the input point cloud.
shared_ptr< const CorrespondenceRejectorSurfaceNormal > ConstPtr
pcl::PointCloud< PointT >::ConstPtr getInputTarget() const
Get the target input point cloud.
pcl::PointCloud< NormalT >::Ptr getTargetNormals() const
Get the normals computed on the target point cloud.
bool requiresSourceNormals() const override
See if this rejector requires source normals.
pcl::PointCloud< PointT >::ConstPtr getInputSource() const
Get the target input point cloud.
shared_ptr< DataContainerInterface > Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
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.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr