CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which have minimum More...
#include <pcl/registration/correspondence_estimation_backprojection.h>
Public Member Functions |
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CorrespondenceEstimationBackProjection () | |
Empty constructor. More... |
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virtual | ~CorrespondenceEstimationBackProjection () |
Empty destructor. More... |
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void | setSourceNormals (const NormalsConstPtr &normals) |
Set the normals computed on the source point cloud. More... |
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NormalsConstPtr | getSourceNormals () const |
Get the normals of the source point cloud. More... |
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void | setTargetNormals (const NormalsConstPtr &normals) |
Set the normals computed on the target point cloud. More... |
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NormalsConstPtr | getTargetNormals () const |
Get the normals of the target point cloud. More... |
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bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... |
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void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2) |
Blob method for setting the source normals. More... |
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bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... |
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void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2) |
Method for setting the target normals. More... |
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void | determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) |
Determine the correspondences between input and target cloud. More... |
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virtual void | determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) |
Determine the reciprocal correspondences between input and target cloud. More... |
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void | setKSearch (unsigned int k) |
Set the number of nearest neighbours to be considered in the target point cloud. More... |
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unsigned int | getKSearch () const |
Get the number of nearest neighbours considered in the target point cloud for computing correspondences. More... |
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virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr | clone () const |
Clone and cast to CorrespondenceEstimationBase. More... |
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Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float > | |
CorrespondenceEstimationBase () | |
Empty constructor. More... |
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~CorrespondenceEstimationBase () | |
Empty destructor. More... |
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void | setInputSource (const PointCloudSourceConstPtr &cloud) |
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... |
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const PointCloudSourceConstPtr | getInputSource () |
Get a pointer to the input point cloud dataset target. More... |
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void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More... |
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const PointCloudTargetConstPtr | getInputTarget () |
Get a pointer to the input point cloud dataset target. More... |
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virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... |
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virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... |
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void | setIndicesSource (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represent the input source point cloud. More... |
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const IndicesPtr | getIndicesSource () |
Get a pointer to the vector of indices used for the source dataset. More... |
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void | setIndicesTarget (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represent the input target point cloud. More... |
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const IndicesPtr | getIndicesTarget () |
Get a pointer to the vector of indices used for the target dataset. More... |
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void | setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the target cloud. More... |
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KdTreePtr | getSearchMethodTarget () const |
Get a pointer to the search method used to find correspondences in the target cloud. More... |
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void | setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More... |
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KdTreeReciprocalPtr | getSearchMethodSource () const |
Get a pointer to the search method used to find correspondences in the source cloud. More... |
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void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
Provide a boost shared pointer to the PointRepresentation to be used when searching for nearest neighbors. More... |
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virtual CorrespondenceEstimationBase< PointSource, PointTarget, float >::Ptr | clone () const=0 |
Clone and cast to CorrespondenceEstimationBase. More... |
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Public Member Functions inherited from pcl::PCLBase< PointSource > | |
PCLBase () | |
Empty constructor. More... |
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PCLBase (const PCLBase &base) | |
Copy constructor. More... |
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virtual | ~PCLBase ()=default |
Destructor. More... |
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... |
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const PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... |
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virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... |
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IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. More... |
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const IndicesConstPtr | getIndices () const |
Get a pointer to the vector of indices used. More... |
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const PointSource & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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bool | initCompute () |
Internal computation initialization. More... |
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Protected Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float > | |
const std::string & | getClassName () const |
Abstract class get name method. More... |
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bool | initCompute () |
Internal computation initialization. More... |
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bool | initComputeReciprocal () |
Internal computation initialization for reciprocal correspondences. More... |
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Protected Member Functions inherited from pcl::PCLBase< PointSource > | |
bool | initCompute () |
This method should get called before starting the actual computation. More... |
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bool | deinitCompute () |
This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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Protected Attributes inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float > | |
std::string | corr_name_ |
The correspondence estimation method name. More... |
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KdTreePtr | tree_ |
A pointer to the spatial search object used for the target dataset. More... |
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KdTreeReciprocalPtr | tree_reciprocal_ |
A pointer to the spatial search object used for the source dataset. More... |
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PointCloudTargetConstPtr | target_ |
The input point cloud dataset target. More... |
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IndicesPtr | target_indices_ |
The target point cloud dataset indices. More... |
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PointRepresentationConstPtr | point_representation_ |
The point representation used (internal). More... |
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PointCloudTargetPtr | input_transformed_ |
The transformed input source point cloud dataset. More... |
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std::vector< pcl::PCLPointField > | input_fields_ |
The types of input point fields available. More... |
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bool | target_cloud_updated_ |
Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More... |
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bool | source_cloud_updated_ |
Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More... |
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bool | force_no_recompute_ |
A flag which, if set, means the tree operating on the target cloud will never be recomputed. More... |
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bool | force_no_recompute_reciprocal_ |
A flag which, if set, means the tree operating on the source cloud will never be recomputed. More... |
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Protected Attributes inherited from pcl::PCLBase< PointSource > | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... |
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IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... |
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bool | use_indices_ |
Set to true if point indices are used. More... |
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bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointSource, typename PointTarget, typename NormalT, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which have minimum
Definition at line 56 of file correspondence_estimation_backprojection.h.
Member Typedef Documentation
ConstPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> > |
Definition at line 66 of file correspondence_estimation_backprojection.h.
KdTree
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::KdTree = pcl::search::KdTree<PointTarget> |
Definition at line 81 of file correspondence_estimation_backprojection.h.
KdTreePtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::KdTreePtr = typename KdTree::Ptr |
Definition at line 82 of file correspondence_estimation_backprojection.h.
NormalsConstPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::NormalsConstPtr = typename PointCloudNormals::ConstPtr |
Definition at line 94 of file correspondence_estimation_backprojection.h.
NormalsPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::NormalsPtr = typename PointCloudNormals::Ptr |
Definition at line 93 of file correspondence_estimation_backprojection.h.
PointCloudNormals
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudNormals = pcl::PointCloud<NormalT> |
Definition at line 92 of file correspondence_estimation_backprojection.h.
PointCloudSource
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudSource = pcl::PointCloud<PointSource> |
Definition at line 84 of file correspondence_estimation_backprojection.h.
PointCloudSourceConstPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 86 of file correspondence_estimation_backprojection.h.
PointCloudSourcePtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 85 of file correspondence_estimation_backprojection.h.
PointCloudTarget
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget> |
Definition at line 88 of file correspondence_estimation_backprojection.h.
PointCloudTargetConstPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
Definition at line 90 of file correspondence_estimation_backprojection.h.
PointCloudTargetPtr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr |
Definition at line 89 of file correspondence_estimation_backprojection.h.
Ptr
using pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::Ptr = shared_ptr<CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> > |
Definition at line 62 of file correspondence_estimation_backprojection.h.
Constructor & Destructor Documentation
CorrespondenceEstimationBackProjection()
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Empty constructor.
- Note
- Sets the number of neighbors to be considered in the target point cloud (k_) to 10.
Definition at line 101 of file correspondence_estimation_backprojection.h.
References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::corr_name_.
~CorrespondenceEstimationBackProjection()
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inlinevirtual |
Empty destructor.
Definition at line 108 of file correspondence_estimation_backprojection.h.
Member Function Documentation
clone()
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inlinevirtual |
Clone and cast to CorrespondenceEstimationBase.
Definition at line 222 of file correspondence_estimation_backprojection.h.
determineCorrespondences()
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Determine the correspondences between input and target cloud.
- Parameters
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[out] correspondences the found correspondences (index of query point, index of target point, distance) [in] max_distance maximum distance between the normal on the source point cloud and the corresponding point in the target point cloud
Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 69 of file correspondence_estimation_backprojection.hpp.
References pcl::copyPoint(), pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
determineReciprocalCorrespondences()
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Determine the reciprocal correspondences between input and target cloud.
A correspondence is considered reciprocal if both Src_i has Tgt_i as a correspondence, and Tgt_i has Src_i as one.
- Parameters
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[out] correspondences the found correspondences (index of query and target point, distance) [in] max_distance maximum allowed distance between correspondences
Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 168 of file correspondence_estimation_backprojection.hpp.
References pcl::copyPoint(), pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
getKSearch()
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Get the number of nearest neighbours considered in the target point cloud for computing correspondences.
By default we use k = 10 nearest neighbors.
Definition at line 215 of file correspondence_estimation_backprojection.h.
getSourceNormals()
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Get the normals of the source point cloud.
Definition at line 122 of file correspondence_estimation_backprojection.h.
getTargetNormals()
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Get the normals of the target point cloud.
Definition at line 139 of file correspondence_estimation_backprojection.h.
initCompute()
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protected |
Internal computation initialization.
Definition at line 52 of file correspondence_estimation_backprojection.hpp.
requiresSourceNormals()
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See if this rejector requires source normals.
Definition at line 146 of file correspondence_estimation_backprojection.h.
requiresTargetNormals()
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inline |
See if this rejector requires target normals.
Definition at line 162 of file correspondence_estimation_backprojection.h.
setKSearch()
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Set the number of nearest neighbours to be considered in the target point cloud.
By default, we use k = 10 nearest neighbors.
- Parameters
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[in] k the number of nearest neighbours to be considered
Definition at line 205 of file correspondence_estimation_backprojection.h.
setSourceNormals() [1/2]
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Set the normals computed on the source point cloud.
- Parameters
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[in] normals the normals computed for the source cloud
Definition at line 114 of file correspondence_estimation_backprojection.h.
Referenced by pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().
setSourceNormals() [2/2]
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inlinevirtual |
Blob method for setting the source normals.
Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 153 of file correspondence_estimation_backprojection.h.
References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().
setTargetNormals() [1/2]
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Set the normals computed on the target point cloud.
- Parameters
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[in] normals the normals computed for the target cloud
Definition at line 131 of file correspondence_estimation_backprojection.h.
Referenced by pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::setTargetNormals().
setTargetNormals() [2/2]
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inlinevirtual |
Method for setting the target normals.
Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 169 of file correspondence_estimation_backprojection.h.
References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >::setTargetNormals().
The documentation for this class was generated from the following files:
- pcl/registration/correspondence_estimation_backprojection.h
- pcl/registration/impl/correspondence_estimation_backprojection.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_estimation_back_projection.html