CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud More...
#include <pcl/registration/correspondence_estimation_normal_shooting.h>
Public Member Functions |
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| CorrespondenceEstimationNormalShooting () | |
| Empty constructor. More... |
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| ~CorrespondenceEstimationNormalShooting () | |
| 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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| bool | requiresSourceNormals () const override |
| See if this rejector requires source normals. More... |
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| void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override |
| Blob method for setting the source normals. More... |
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| void | determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override |
| Determine the correspondences between input and target cloud. More... |
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| void | determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override |
| 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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| CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr | clone () const override |
| Clone and cast to CorrespondenceEstimationBase. More... |
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 Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float > |
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| 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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| virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the 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 > |
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| 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 > |
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| 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 > |
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| 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 > |
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| 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 > |
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| 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::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >
CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud
Code example:
Definition at line 79 of file correspondence_estimation_normal_shooting.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar> > |
Definition at line 89 of file correspondence_estimation_normal_shooting.h.
KdTree
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::KdTree = pcl::search::KdTree<PointTarget> |
Definition at line 104 of file correspondence_estimation_normal_shooting.h.
KdTreePtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::KdTreePtr = typename KdTree::Ptr |
Definition at line 105 of file correspondence_estimation_normal_shooting.h.
NormalsConstPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsConstPtr = typename PointCloudNormals::ConstPtr |
Definition at line 117 of file correspondence_estimation_normal_shooting.h.
NormalsPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsPtr = typename PointCloudNormals::Ptr |
Definition at line 116 of file correspondence_estimation_normal_shooting.h.
PointCloudNormals
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudNormals = pcl::PointCloud<NormalT> |
Definition at line 115 of file correspondence_estimation_normal_shooting.h.
PointCloudSource
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSource = pcl::PointCloud<PointSource> |
Definition at line 107 of file correspondence_estimation_normal_shooting.h.
PointCloudSourceConstPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 109 of file correspondence_estimation_normal_shooting.h.
PointCloudSourcePtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 108 of file correspondence_estimation_normal_shooting.h.
PointCloudTarget
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget> |
Definition at line 111 of file correspondence_estimation_normal_shooting.h.
PointCloudTargetConstPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
Definition at line 113 of file correspondence_estimation_normal_shooting.h.
PointCloudTargetPtr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr |
Definition at line 112 of file correspondence_estimation_normal_shooting.h.
Ptr
| using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::Ptr = shared_ptr<CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar> > |
Definition at line 85 of file correspondence_estimation_normal_shooting.h.
Constructor & Destructor Documentation
CorrespondenceEstimationNormalShooting()
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inline |
Empty constructor.
- Note
- Sets the number of neighbors to be considered in the target point cloud (k_) to 10.
Definition at line 124 of file correspondence_estimation_normal_shooting.h.
References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::corr_name_.
~CorrespondenceEstimationNormalShooting()
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inline |
Empty destructor.
Definition at line 131 of file correspondence_estimation_normal_shooting.h.
Member Function Documentation
clone()
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inlineoverride |
Clone and cast to CorrespondenceEstimationBase.
Definition at line 213 of file correspondence_estimation_normal_shooting.h.
determineCorrespondences()
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overridevirtual |
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_normal_shooting.hpp.
References pcl::copyPoint(), pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
determineReciprocalCorrespondences()
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overridevirtual |
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 178 of file correspondence_estimation_normal_shooting.hpp.
References pcl::copyPoint(), pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
getKSearch()
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inline |
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 206 of file correspondence_estimation_normal_shooting.h.
getSourceNormals()
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inline |
Get the normals of the source point cloud.
Definition at line 145 of file correspondence_estimation_normal_shooting.h.
initCompute()
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protected |
Internal computation initialization.
Definition at line 53 of file correspondence_estimation_normal_shooting.hpp.
requiresSourceNormals()
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inlineoverride |
See if this rejector requires source normals.
Definition at line 152 of file correspondence_estimation_normal_shooting.h.
setKSearch()
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inline |
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 196 of file correspondence_estimation_normal_shooting.h.
setSourceNormals() [1/2]
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inline |
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 137 of file correspondence_estimation_normal_shooting.h.
Referenced by pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().
setSourceNormals() [2/2]
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inlineoverridevirtual |
Blob method for setting the source normals.
Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 159 of file correspondence_estimation_normal_shooting.h.
References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().
The documentation for this class was generated from the following files:
- pcl/registration/correspondence_estimation_normal_shooting.h
- pcl/registration/impl/correspondence_estimation_normal_shooting.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_normal_shooting.html
