pcl::registration::CorrespondenceEstimationBase — PointCloudLibrary

Abstract CorrespondenceEstimationBase class. More...

#include <pcl/registration/correspondence_estimation.h>

Public Types
using	Ptr = shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >
using	ConstPtr = shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >
using	KdTree = pcl::search::KdTree< PointTarget >
using	KdTreePtr = typename KdTree::Ptr
using	KdTreeConstPtr = typename KdTree::ConstPtr
using	KdTreeReciprocal = pcl::search::KdTree< PointSource >
using	KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr
using	KdTreeReciprocalConstPtr = typename KdTreeReciprocal::ConstPtr
using	PointCloudSource = pcl::PointCloud< PointSource >
using	PointCloudSourcePtr = typename PointCloudSource::Ptr
using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr
using	PointCloudTarget = pcl::PointCloud< PointTarget >
using	PointCloudTargetPtr = typename PointCloudTarget::Ptr
using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr
using	PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr
using	PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr
Public Types inherited from pcl::PCLBase< PointSource >
using	PointCloud = pcl::PointCloud< PointSource >
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	CorrespondenceEstimationBase ()
	Empty constructor. More...
	~CorrespondenceEstimationBase () override=default
	Empty destructor. More...
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...
PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...
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...
PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...
void	setNumberOfThreads (unsigned int nr_threads)
	Set the number of threads to use. More...
virtual bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...
virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals. More...
virtual bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...
virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals. More...
void	setIndicesSource (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input source point cloud. More...
IndicesPtr const	getIndicesSource ()
	Get a pointer to the vector of indices used for the source dataset. More...
void	setIndicesTarget (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input target point cloud. More...
IndicesPtr const	getIndicesTarget ()
	Get a pointer to the vector of indices used for the target dataset. More...
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...
KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud. More...
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...
KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud. More...
virtual void	determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())=0
	Determine the correspondences between input and target cloud. More...
virtual void	determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())=0
	Determine the reciprocal correspondences between input and target cloud. More...
void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation for target cloud to be used when searching for nearest neighbors. More...
void	setPointRepresentationReciprocal (const PointRepresentationReciprocalConstPtr &point_representation_reciprocal)
	Provide a boost shared pointer to the PointRepresentation for source cloud to be used when searching for nearest neighbors. More...
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr	clone () const =0
	Clone and cast to CorrespondenceEstimationBase. More...
Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...
	PCLBase (const PCLBase &base)
	Copy constructor. More...
virtual	~PCLBase ()=default
	Destructor. More...
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...
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...
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...
const PointSource &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
const std::string &	getClassName () const
	Abstract class get name method. More...
bool	initCompute ()
	Internal computation initialization. More...
bool	initComputeReciprocal ()
	Internal computation initialization for reciprocal correspondences. More...
Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...
bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
std::string	corr_name_
	The correspondence estimation method name. More...
KdTreePtr	tree_
	A pointer to the spatial search object used for the target dataset. More...
KdTreeReciprocalPtr	tree_reciprocal_
	A pointer to the spatial search object used for the source dataset. More...
PointCloudTargetConstPtr	target_
	The input point cloud dataset target. More...
IndicesPtr	target_indices_
	The target point cloud dataset indices. More...
PointRepresentationConstPtr	point_representation_
	The target point representation used (internal). More...
PointRepresentationReciprocalConstPtr	point_representation_reciprocal_
	The source point representation used (internal). More...
PointCloudTargetPtr	input_transformed_
	The transformed input source point cloud dataset. More...
std::vector< pcl::PCLPointField >	input_fields_
	The types of input point fields available. More...
bool	target_cloud_updated_ {true}
	Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...
bool	source_cloud_updated_ {true}
	Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...
bool	force_no_recompute_ {false}
	A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...
bool	force_no_recompute_reciprocal_ {false}
	A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...
unsigned int	num_threads_ {1}
Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr	input_
	The input point cloud dataset. More...
IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...
bool	use_indices_
	Set to true if point indices are used. More...
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >

Abstract CorrespondenceEstimationBase class.

All correspondence estimation methods should inherit from this.

Author: Radu B. Rusu

Definition at line 60 of file correspondence_estimation.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >

Definition at line 64 of file correspondence_estimation.h.

KdTree

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTree = pcl::search::KdTree<PointTarget>

Definition at line 73 of file correspondence_estimation.h.

KdTreeConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeConstPtr = typename KdTree::ConstPtr

Definition at line 75 of file correspondence_estimation.h.

KdTreePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreePtr = typename KdTree::Ptr

Definition at line 74 of file correspondence_estimation.h.

KdTreeReciprocal

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocal = pcl::search::KdTree<PointSource>

Definition at line 77 of file correspondence_estimation.h.

KdTreeReciprocalConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocalConstPtr = typename KdTreeReciprocal::ConstPtr

Definition at line 79 of file correspondence_estimation.h.

KdTreeReciprocalPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr

Definition at line 78 of file correspondence_estimation.h.

PointCloudSource

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource>

Definition at line 81 of file correspondence_estimation.h.

PointCloudSourceConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 83 of file correspondence_estimation.h.

PointCloudSourcePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 82 of file correspondence_estimation.h.

PointCloudTarget

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget>

Definition at line 85 of file correspondence_estimation.h.

PointCloudTargetConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Definition at line 87 of file correspondence_estimation.h.

PointCloudTargetPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr

Definition at line 86 of file correspondence_estimation.h.

PointRepresentationConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

Definition at line 89 of file correspondence_estimation.h.

PointRepresentationReciprocalConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr

Definition at line 90 of file correspondence_estimation.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >

Definition at line 62 of file correspondence_estimation.h.

Constructor & Destructor Documentation

CorrespondenceEstimationBase()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::CorrespondenceEstimationBase ( )

inline

Empty constructor.

Definition at line 94 of file correspondence_estimation.h.

~CorrespondenceEstimationBase()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::~CorrespondenceEstimationBase ( )

overridedefault

Empty destructor.

Member Function Documentation

clone()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::Ptr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::clone ( ) const

pure virtual

Clone and cast to CorrespondenceEstimationBase.

Implemented in pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >, pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >, and pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >.

determineCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::determineCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance = `std::numeric_limits< double >::max()`
	)

pure virtual

Determine the correspondences between input and target cloud.

Parameters

[out]	correspondences	the found correspondences (index of query point, index of target point, distance)
[in]	max_distance	maximum allowed distance between correspondences

Implemented in pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >, pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >.

determineReciprocalCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::determineReciprocalCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance = `std::numeric_limits< double >::max()`
	)

pure virtual

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

[out]	correspondences	the found correspondences (index of query and target point, distance)
[in]	max_distance	maximum allowed distance between correspondences

Implemented in pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >, pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >.

getClassName()

template<typename PointSource , typename PointTarget , typename Scalar = float>

const std::string& pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName ( ) const

inlineprotected

Abstract class get name method.

Definition at line 354 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::corr_name_.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSourceNormals(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setTargetNormals().

getIndicesSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

IndicesPtr const pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getIndicesSource ( )

inline

Get a pointer to the vector of indices used for the source dataset.

Definition at line 201 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::indices_.

getIndicesTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>

IndicesPtr const pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getIndicesTarget ( )

inline

Get a pointer to the vector of indices used for the target dataset.

Definition at line 218 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_.

getInputSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointCloudSourceConstPtr const pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputSource ( )

inline

Get a pointer to the input point cloud dataset target.

Definition at line 121 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::input_.

getInputTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointCloudTargetConstPtr const pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputTarget ( )

inline

Get a pointer to the input point cloud dataset target.

Definition at line 135 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_.

getSearchMethodSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

KdTreeReciprocalPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodSource ( ) const

inline

Get a pointer to the search method used to find correspondences in the source cloud.

Definition at line 267 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_.

getSearchMethodTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>

KdTreePtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodTarget ( ) const

inline

Get a pointer to the search method used to find correspondences in the target cloud.

Definition at line 242 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_.

initCompute()

template<typename PointSource , typename PointTarget , typename Scalar >

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::initCompute

protected

Internal computation initialization.

Definition at line 74 of file correspondence_estimation.hpp.

initComputeReciprocal()

template<typename PointSource , typename PointTarget , typename Scalar >

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::initComputeReciprocal

protected

Internal computation initialization for reciprocal correspondences.

Definition at line 98 of file correspondence_estimation.hpp.

requiresSourceNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::requiresSourceNormals ( ) const

inlinevirtual

See if this rejector requires source normals.

Reimplemented in pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, and pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >.

Definition at line 159 of file correspondence_estimation.h.

requiresTargetNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::requiresTargetNormals ( ) const

inlinevirtual

See if this rejector requires target normals.

Reimplemented in pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >.

Definition at line 175 of file correspondence_estimation.h.

setIndicesSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesSource ( const IndicesPtr & indices )

inline

Provide a pointer to the vector of indices that represent the input source point cloud.

Parameters

[in] indices a pointer to the vector of indices

Definition at line 194 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::setIndices().

setIndicesTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesTarget ( const IndicesPtr & indices )

inline

Provide a pointer to the vector of indices that represent the input target point cloud.

Parameters

[in] indices a pointer to the vector of indices

Definition at line 210 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_.

setInputSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputSource ( const PointCloudSourceConstPtr & cloud )

inline

Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)

Parameters

[in] cloud the input point cloud source

Definition at line 112 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_fields_, pcl::PCLBase< PointT >::setInputCloud(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_.

Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation().

setInputTarget()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputTarget ( const PointCloudTargetConstPtr & cloud )

inline

Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to)

Parameters

[in] cloud the input point cloud target

Definition at line 54 of file correspondence_estimation.hpp.

Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation().

setNumberOfThreads()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setNumberOfThreads ( unsigned int nr_threads )

inline

Set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 145 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::num_threads_.

Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation().

setPointRepresentation()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation )

inline

Provide a boost shared pointer to the PointRepresentation for target cloud to be used when searching for nearest neighbors.

Parameters

[in] point_representation the PointRepresentation to be used by the k-D tree for nearest neighbor search

Definition at line 302 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_.

setPointRepresentationReciprocal()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setPointRepresentationReciprocal ( const PointRepresentationReciprocalConstPtr & point_representation_reciprocal )

inline

Provide a boost shared pointer to the PointRepresentation for source cloud to be used when searching for nearest neighbors.

Parameters

[in] point_representation the PointRepresentation to be used by the k-D tree for nearest neighbor search

Definition at line 314 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_reciprocal_.

setSearchMethodSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodSource	(	const KdTreeReciprocalPtr &	tree,
		bool	force_no_recompute = `false`
	)

inline

Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding).

Parameters

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If set to true, this tree will NEVER be recomputed, regardless of calls to setInputSource. Only use if you are extremely confident that the tree will be set correctly.

Definition at line 255 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_reciprocal_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_.

setSearchMethodTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodTarget	(	const KdTreePtr &	tree,
		bool	force_no_recompute = `false`
	)

inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 231 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_.

Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation().

setSourceNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr )

inlinevirtual

Abstract method for setting the source normals.

Definition at line 166 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName().

setTargetNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr )

inlinevirtual

Abstract method for setting the target normals.

Reimplemented in pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >.

Definition at line 182 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName().

Member Data Documentation

corr_name_

template<typename PointSource , typename PointTarget , typename Scalar = float>

std::string pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::corr_name_

protected

The correspondence estimation method name.

Definition at line 326 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName().

force_no_recompute_

template<typename PointSource , typename PointTarget , typename Scalar = float>

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_ {false}

protected

A flag which, if set, means the tree operating on the target cloud will never be recomputed.

Definition at line 377 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodTarget().

force_no_recompute_reciprocal_

template<typename PointSource , typename PointTarget , typename Scalar = float>

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_reciprocal_ {false}

protected

A flag which, if set, means the tree operating on the source cloud will never be recomputed.

Definition at line 381 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodSource().

input_fields_

template<typename PointSource , typename PointTarget , typename Scalar = float>

std::vector<pcl::PCLPointField> pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_fields_

protected

The types of input point fields available.

Definition at line 350 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputSource().

input_transformed_

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointCloudTargetPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_transformed_

protected

The transformed input source point cloud dataset.

Definition at line 347 of file correspondence_estimation.h.

num_threads_

template<typename PointSource , typename PointTarget , typename Scalar = float>

unsigned int pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::num_threads_ {1}

protected

Definition at line 383 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setNumberOfThreads().

point_representation_

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointRepresentationConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_

protected

The target point representation used (internal).

Definition at line 341 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setPointRepresentation().

point_representation_reciprocal_

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointRepresentationReciprocalConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_reciprocal_

protected

The source point representation used (internal).

Definition at line 344 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setPointRepresentationReciprocal().

source_cloud_updated_

template<typename PointSource , typename PointTarget , typename Scalar = float>

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_ {true}

protected

Variable that stores whether we have a new source cloud, meaning we need to pre-process it again.

This way, we avoid rebuilding the reciprocal kd-tree for the source cloud every time the determineCorrespondences () method is called.

Definition at line 374 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputSource(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodSource().

target_

template<typename PointSource , typename PointTarget , typename Scalar = float>

PointCloudTargetConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_

protected

The input point cloud dataset target.

Definition at line 335 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputTarget().

target_cloud_updated_

template<typename PointSource , typename PointTarget , typename Scalar = float>

bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_ {true}

protected

Variable that stores whether we have a new target cloud, meaning we need to pre-process it again.

This way, we avoid rebuilding the kd-tree for the target cloud every time the determineCorrespondences () method is called.

Definition at line 370 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesTarget(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodTarget().

target_indices_

template<typename PointSource , typename PointTarget , typename Scalar = float>

IndicesPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_

protected

The target point cloud dataset indices.

Definition at line 338 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getIndicesTarget(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesTarget().

tree_

template<typename PointSource , typename PointTarget , typename Scalar = float>

KdTreePtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_

protected

A pointer to the spatial search object used for the target dataset.

Definition at line 329 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodTarget(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodTarget().

tree_reciprocal_

template<typename PointSource , typename PointTarget , typename Scalar = float>

KdTreeReciprocalPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_

protected

A pointer to the spatial search object used for the source dataset.

Definition at line 332 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodSource(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodSource().

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_base.html

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float> class pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >

Member Typedef Documentation

ConstPtr

KdTree

KdTreeConstPtr

KdTreePtr

KdTreeReciprocal

KdTreeReciprocalConstPtr

KdTreeReciprocalPtr

PointCloudSource

PointCloudSourceConstPtr

PointCloudSourcePtr

PointCloudTarget

PointCloudTargetConstPtr

PointCloudTargetPtr

PointRepresentationConstPtr

PointRepresentationReciprocalConstPtr

Ptr

Constructor & Destructor Documentation

CorrespondenceEstimationBase()

~CorrespondenceEstimationBase()

Member Function Documentation

clone()

determineCorrespondences()

determineReciprocalCorrespondences()

getClassName()

getIndicesSource()

getIndicesTarget()

getInputSource()

getInputTarget()

getSearchMethodSource()

getSearchMethodTarget()

initCompute()

initComputeReciprocal()

requiresSourceNormals()

requiresTargetNormals()

setIndicesSource()

setIndicesTarget()

setInputSource()

setInputTarget()

setNumberOfThreads()

setPointRepresentation()

setPointRepresentationReciprocal()

setSearchMethodSource()

setSearchMethodTarget()

setSourceNormals()

setTargetNormals()

Member Data Documentation

corr_name_

force_no_recompute_

force_no_recompute_reciprocal_

input_fields_

input_transformed_

num_threads_

point_representation_

point_representation_reciprocal_

source_cloud_updated_

target_

target_cloud_updated_

target_indices_

tree_

tree_reciprocal_

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >