CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. More...
#include <pcl/registration/correspondence_estimation.h>
Public Member Functions |
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| CorrespondenceEstimation () | |
| Empty constructor. More... |
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| ~CorrespondenceEstimation () override=default | |
| Empty destructor. 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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| 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 () override=default | |
| 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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| PointCloudSourceConstPtr const | 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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| PointCloudTargetConstPtr const | 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 void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the 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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| IndicesPtr const | 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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| IndicesPtr const | 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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| 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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| PointCloudConstPtr const | 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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| IndicesConstPtr const | 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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Additional Inherited Members |
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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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| 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 Scalar = float>
class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >
CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features.
Code example:
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr source, target;
// ... read or fill in source and target
pcl::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ> est;
est.setInputSource (source);
est.setInputTarget (target);
pcl::Correspondences all_correspondences;
// Determine all reciprocal correspondences
est.determineReciprocalCorrespondences (all_correspondences);
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::Correspondencesstd::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > CorrespondencesDefinition: correspondence.h:89
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
Definition at line 373 of file correspondence_estimation.h.
Member Typedef Documentation
ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 377 of file correspondence_estimation.h.
KdTree
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTree = pcl::search::KdTree<PointTarget> |
Definition at line 399 of file correspondence_estimation.h.
KdTreePtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreePtr = typename KdTree::Ptr |
Definition at line 400 of file correspondence_estimation.h.
PointCloudSource
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource> |
Definition at line 402 of file correspondence_estimation.h.
PointCloudSourceConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 404 of file correspondence_estimation.h.
PointCloudSourcePtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 403 of file correspondence_estimation.h.
PointCloudTarget
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget> |
Definition at line 406 of file correspondence_estimation.h.
PointCloudTargetConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
Definition at line 408 of file correspondence_estimation.h.
PointCloudTargetPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr |
Definition at line 407 of file correspondence_estimation.h.
PointRepresentationConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr |
Definition at line 410 of file correspondence_estimation.h.
Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<CorrespondenceEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 376 of file correspondence_estimation.h.
Constructor & Destructor Documentation
CorrespondenceEstimation()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inline |
Empty constructor.
Definition at line 413 of file correspondence_estimation.h.
References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::corr_name_.
~CorrespondenceEstimation()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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overridedefault |
Empty destructor.
Member Function Documentation
clone()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inlineoverridevirtual |
Clone and cast to CorrespondenceEstimationBase.
Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 443 of file correspondence_estimation.h.
determineCorrespondences()
template<typename PointSource , typename PointTarget , typename Scalar >
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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 allowed distance between correspondences
Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.
Definition at line 117 of file correspondence_estimation.hpp.
References pcl::geometry::distance().
determineReciprocalCorrespondences()
template<typename PointSource , typename PointTarget , typename Scalar >
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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 173 of file correspondence_estimation.hpp.
References pcl::copyPoint(), pcl::geometry::distance(), pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
The documentation for this class was generated from the following files:
- pcl/registration/correspondence_estimation.h
- pcl/registration/impl/correspondence_estimation.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.html