Registration represents the base registration class. All 3D registration methods should inherit from this class. More...
#include <registration_correspondences_check.h>
Public Types | |
| typedef pcl::KdTree< PointTarget > | KdTree |
| typedef pcl::KdTree < PointTarget >::Ptr | KdTreePtr |
| typedef pcl::PointCloud < PointSource > | PointCloudSource |
| typedef PointCloudSource::ConstPtr | PointCloudSourceConstPtr |
| typedef PointCloudSource::Ptr | PointCloudSourcePtr |
| typedef pcl::PointCloud < PointTarget > | PointCloudTarget |
| typedef PointCloudTarget::ConstPtr | PointCloudTargetConstPtr |
| typedef PointCloudTarget::Ptr | PointCloudTargetPtr |
Public Member Functions | |
| void | align (PointCloudSource &output) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. | |
| Eigen::Matrix4f | getFinalTransformation () |
| Get the final transformation matrix estimated by the registration method. | |
| double | getFitnessScore (double max_range=std::numeric_limits< double >::max()) |
| Obtain the fitness score (e.g., sum of squared distances from the source to the target). | |
| PointCloudTargetConstPtr const | getInputTarget () |
| Get a pointer to the input point cloud dataset target target. | |
| Eigen::Matrix4f | getLastIncrementalTransformation () |
| Get the last incremental transformation matrix estimated by the registration method. | |
| double | getMaxCorrespondenceDistance () |
| Get the maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will be ignored in the alignment process. | |
| int | getMaximumIterations () |
| Get the maximum number of iterations the internal optimization should run for, as set by the user. | |
| double | getTransformationEpsilon () |
| Get the transformation epsilon (maximum allowable difference between two consecutive transformations) as set by the user. | |
| RegistrationCorrespondencesCheck () | |
| Empty constructor. | |
| virtual void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
| Provide a pointer to the input target target (e.g., the point cloud that we want to align the input source to) | |
| void | setMaxCorrespondenceDistance (double distance_threshold) |
| Set the maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will be ignored in the alignment process. | |
| void | setMaximumIterations (int nr_iterations) |
| Set the maximum number of iterations the internal optimization should run for. | |
| void | setPointRepresentation (const typename KdTree::PointRepresentationConstPtr &point_representation) |
| Provide a boost shared pointer to the PointRepresentation to be used when comparing points. | |
| void | setTransformationEpsilon (double epsilon) |
| Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. | |
| virtual | ~RegistrationCorrespondencesCheck () |
| Empty destructor. | |
Protected Member Functions | |
| const std::string & | getClassName () const |
| Abstract class get name method. | |
| bool | searchForNeighbors (const PointCloudSource &cloud, int index, double radius, int max_nn, std::vector< int > &indices, std::vector< float > &distances) |
| Search for neigbors of a given point based on radius search. | |
Protected Attributes | |
| bool | converged_ |
| Holds internal convergence state, given user parameters. | |
| double | corr_dist_threshold_ |
| The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignement process. | |
| Eigen::Matrix4f | final_transformation_ |
| The final transformation matrix estimated by the registration method after N iterations. | |
| int | max_iterations_ |
| The maximum number of iterations the internal optimization should run for. | |
| int | min_number_correspondences_ |
| The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. | |
| int | nr_iterations_ |
| The number of iterations the internal optimization ran for (used internally). | |
| Eigen::Matrix4f | previous_transformation_ |
| The previous transformation matrix estimated by the registration method (used internally). | |
| std::string | reg_name_ |
| The registration method name. | |
| PointCloudTargetConstPtr | target_ |
| The input point cloud dataset target. | |
| Eigen::Matrix4f | transformation_ |
| The transformation matrix estimated by the registration method. | |
| double | transformation_epsilon_ |
| The maximum difference between two consecutive transformations in order to consider convergence (user defined). | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. | |
Private Member Functions | |
| virtual void | computeTransformation (PointCloudSource &output)=0 |
| Abstract transformation computation method. | |
Private Attributes | |
| int | k_ |
| The number of K nearest neighbors to use for each point. | |
Registration represents the base registration class. All 3D registration methods should inherit from this class.
Definition at line 57 of file registration_correspondences_check.h.
| typedef pcl::KdTree<PointTarget> pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::KdTree |
Definition at line 66 of file registration_correspondences_check.h.
| typedef pcl::KdTree<PointTarget>::Ptr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::KdTreePtr |
Definition at line 67 of file registration_correspondences_check.h.
| typedef pcl::PointCloud<PointSource> pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudSource |
Reimplemented in pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >, pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointNormal, pcl::PointNormal >, and pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointXYZINormal, pcl::PointXYZINormal >.
Definition at line 69 of file registration_correspondences_check.h.
| typedef PointCloudSource::ConstPtr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudSourceConstPtr |
Reimplemented in pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >, pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointNormal, pcl::PointNormal >, and pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointXYZINormal, pcl::PointXYZINormal >.
Definition at line 71 of file registration_correspondences_check.h.
| typedef PointCloudSource::Ptr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudSourcePtr |
Reimplemented in pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >, pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointNormal, pcl::PointNormal >, and pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointXYZINormal, pcl::PointXYZINormal >.
Definition at line 70 of file registration_correspondences_check.h.
| typedef pcl::PointCloud<PointTarget> pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudTarget |
Reimplemented in pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >, pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointNormal, pcl::PointNormal >, and pcl::IterativeClosestPointCorrespondencesCheck< pcl::PointXYZINormal, pcl::PointXYZINormal >.
Definition at line 73 of file registration_correspondences_check.h.
| typedef PointCloudTarget::ConstPtr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudTargetConstPtr |
Definition at line 75 of file registration_correspondences_check.h.
| typedef PointCloudTarget::Ptr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::PointCloudTargetPtr |
Definition at line 74 of file registration_correspondences_check.h.
| pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::RegistrationCorrespondencesCheck | ( | ) | [inline] |
Empty constructor.
Definition at line 79 of file registration_correspondences_check.h.
| virtual pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::~RegistrationCorrespondencesCheck | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 91 of file registration_correspondences_check.h.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::align | ( | PointCloudSource & | output | ) | [inline] |
Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output.
| output | the resultant input transfomed point cloud dataset |
Definition at line 100 of file registration_correspondences_check.hpp.
| virtual void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::computeTransformation | ( | PointCloudSource & | output | ) | [private, pure virtual] |
Abstract transformation computation method.
Implemented in pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >.
| const std::string& pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getClassName | ( | ) | const [inline, protected] |
Abstract class get name method.
Definition at line 229 of file registration_correspondences_check.h.
| Eigen::Matrix4f pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getFinalTransformation | ( | ) | [inline] |
Get the final transformation matrix estimated by the registration method.
Definition at line 106 of file registration_correspondences_check.h.
| double pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getFitnessScore | ( | double | max_range = std::numeric_limits<double>::max () | ) | [inline] |
Obtain the fitness score (e.g., sum of squared distances from the source to the target).
| max_range | maximum allowable distance between a point and its correspondent neighbor in the target (default: <double>max) |
Definition at line 56 of file registration_correspondences_check.hpp.
| PointCloudTargetConstPtr const pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getInputTarget | ( | ) | [inline] |
Get a pointer to the input point cloud dataset target target.
Definition at line 102 of file registration_correspondences_check.h.
| Eigen::Matrix4f pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getLastIncrementalTransformation | ( | ) | [inline] |
Get the last incremental transformation matrix estimated by the registration method.
Definition at line 110 of file registration_correspondences_check.h.
| double pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getMaxCorrespondenceDistance | ( | ) | [inline] |
Get the maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will be ignored in the alignment process.
Definition at line 134 of file registration_correspondences_check.h.
| int pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getMaximumIterations | ( | ) | [inline] |
Get the maximum number of iterations the internal optimization should run for, as set by the user.
Definition at line 120 of file registration_correspondences_check.h.
| double pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::getTransformationEpsilon | ( | ) | [inline] |
Get the transformation epsilon (maximum allowable difference between two consecutive transformations) as set by the user.
Definition at line 148 of file registration_correspondences_check.h.
| bool pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::searchForNeighbors | ( | const PointCloudSource & | cloud, |
| int | index, | ||
| double | radius, | ||
| int | max_nn, | ||
| std::vector< int > & | indices, | ||
| std::vector< float > & | distances | ||
| ) | [inline, protected] |
Search for neigbors of a given point based on radius search.
| cloud | the point cloud dataset to use for neighbor search |
| index | the index of the query point |
| radius | of the radiusSearch |
| maximum | number of nearest neigbors |
| indices | the resultant vector of indices representing the neighbors |
| distances | the resultant distances from the query point to the neighbors |
Definition at line 222 of file registration_correspondences_check.h.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::setInputTarget | ( | const PointCloudTargetConstPtr & | cloud | ) | [inline, virtual] |
Provide a pointer to the input target target (e.g., the point cloud that we want to align the input source to)
Provide a pointer to the input model (e.g., the point cloud that we want to align the input source to)
| cloud | the input point cloud target |
| cloud | the input point cloud model |
Definition at line 40 of file registration_correspondences_check.hpp.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::setMaxCorrespondenceDistance | ( | double | distance_threshold | ) | [inline] |
Set the maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will be ignored in the alignment process.
| distance_threshold | the maximum distance threshold between a point and its nearest neighbor correspondent in order to be considered in the alignment process |
Definition at line 128 of file registration_correspondences_check.h.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::setMaximumIterations | ( | int | nr_iterations | ) | [inline] |
Set the maximum number of iterations the internal optimization should run for.
| nr_iterations | the maximum number of iterations the internal optimization should run for |
Definition at line 116 of file registration_correspondences_check.h.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::setPointRepresentation | ( | const typename KdTree::PointRepresentationConstPtr & | point_representation | ) | [inline] |
Provide a boost shared pointer to the PointRepresentation to be used when comparing points.
| point_representation | the PointRepresentation to be used by the k-D tree |
Definition at line 156 of file registration_correspondences_check.h.
| void pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::setTransformationEpsilon | ( | double | epsilon | ) | [inline] |
Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.
| epsilon | the transformation epsilon in order for an optimization to be considered as having converged to the final solution. |
Definition at line 142 of file registration_correspondences_check.h.
bool pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::converged_ [protected] |
Holds internal convergence state, given user parameters.
Definition at line 207 of file registration_correspondences_check.h.
double pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::corr_dist_threshold_ [protected] |
The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignement process.
Definition at line 204 of file registration_correspondences_check.h.
Eigen::Matrix4f pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::final_transformation_ [protected] |
The final transformation matrix estimated by the registration method after N iterations.
Definition at line 190 of file registration_correspondences_check.h.
int pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::k_ [private] |
The number of K nearest neighbors to use for each point.
Definition at line 237 of file registration_correspondences_check.h.
int pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::max_iterations_ [protected] |
The maximum number of iterations the internal optimization should run for.
Definition at line 184 of file registration_correspondences_check.h.
int pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::min_number_correspondences_ [protected] |
The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation.
Definition at line 210 of file registration_correspondences_check.h.
int pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::nr_iterations_ [protected] |
The number of iterations the internal optimization ran for (used internally).
Definition at line 181 of file registration_correspondences_check.h.
Eigen::Matrix4f pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::previous_transformation_ [protected] |
The previous transformation matrix estimated by the registration method (used internally).
Definition at line 196 of file registration_correspondences_check.h.
std::string pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::reg_name_ [protected] |
The registration method name.
Definition at line 175 of file registration_correspondences_check.h.
PointCloudTargetConstPtr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::target_ [protected] |
The input point cloud dataset target.
Definition at line 187 of file registration_correspondences_check.h.
Eigen::Matrix4f pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::transformation_ [protected] |
The transformation matrix estimated by the registration method.
Definition at line 193 of file registration_correspondences_check.h.
double pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::transformation_epsilon_ [protected] |
The maximum difference between two consecutive transformations in order to consider convergence (user defined).
Definition at line 199 of file registration_correspondences_check.h.
KdTreePtr pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >::tree_ [protected] |
A pointer to the spatial search object.
Definition at line 178 of file registration_correspondences_check.h.
