CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. More...

#include <pcl/registration/correspondence_estimation.h>

Inheritance diagram for pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >:

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Collaboration diagram for pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >:

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Public Types
typedef pcl::KdTree< PointTarget >	KdTree

typedef pcl::KdTree < PointTarget >::Ptr	KdTreePtr

typedef pcl::PointCloud < PointSource >	PointCloudSource

typedef PointCloudSource::Ptr	PointCloudSourcePtr

typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr

typedef pcl::PointCloud < PointTarget >	PointCloudTarget

typedef PointCloudTarget::Ptr	PointCloudTargetPtr

typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr

typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr

typedef pcl::PointCloud < PointSource >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	CorrespondenceEstimation ()
	Empty constructor. More...

virtual 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	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...

virtual void	determineCorrespondences (pcl::Correspondences &correspondences, float max_distance=std::numeric_limits< float >::max())
	Determine the correspondences between input and target cloud. More...

virtual void	determineReciprocalCorrespondences (pcl::Correspondences &correspondences)
	Determine the correspondences between input and target cloud. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >

CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features.

Author: Radu Bogdan Rusu, Michael Dixon, Dirk Holz

Definition at line 62 of file correspondence_estimation.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget> pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::KdTree

Definition at line 70 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef pcl::KdTree<PointTarget>::Ptr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::KdTreePtr

Definition at line 71 of file correspondence_estimation.h.

typedef pcl::PointCloud<PointSource > pcl::PCLBase< PointSource >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointSource >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef PointCloud::Ptr pcl::PCLBase< PointSource >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

template<typename PointSource , typename PointTarget >

typedef pcl::PointCloud<PointSource> pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudSource

Definition at line 73 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudSourceConstPtr

Definition at line 75 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudSource::Ptr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudSourcePtr

Definition at line 74 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef pcl::PointCloud<PointTarget> pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudTarget

Definition at line 77 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudTargetConstPtr

Definition at line 79 of file correspondence_estimation.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudTarget::Ptr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointCloudTargetPtr

Definition at line 78 of file correspondence_estimation.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointSource >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointSource >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointSource , typename PointTarget >

typedef KdTree::PointRepresentationConstPtr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::PointRepresentationConstPtr

Definition at line 81 of file correspondence_estimation.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::CorrespondenceEstimation ( )

inline

Empty constructor.

Definition at line 84 of file correspondence_estimation.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::determineCorrespondences	(	pcl::Correspondences &	correspondences,
		float	max_distance = `std::numeric_limits<float>::max ()`
	)

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 distance between correspondences

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

Definition at line 60 of file correspondence_estimation.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::determineReciprocalCorrespondences ( pcl::Correspondences & correspondences )

virtual

Determine the correspondences between input and target cloud.

Parameters

[out] correspondences the found correspondences (index of query and target point, distance)

Definition at line 107 of file correspondence_estimation.hpp.

IndicesPtr const pcl::PCLBase< PointSource >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointSource >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointSource , typename PointTarget >

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

inline

Get a pointer to the input point cloud dataset target.

Definition at line 101 of file correspondence_estimation.h.

const PointSource & pcl::PCLBase< PointSource >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointSource >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointSource , typename PointTarget >

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

inlinevirtual

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 46 of file correspondence_estimation.hpp.

template<typename PointSource , typename PointTarget >

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

inline

Provide a boost shared pointer to the PointRepresentation to be used when comparing points.

Parameters

[in] point_representation the PointRepresentation to be used by the k-D tree

Definition at line 107 of file correspondence_estimation.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_estimation.h
/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_estimation.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointSource, typename PointTarget> class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointSource, typename PointTarget>
class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >