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

#include <correspondence_estimation.h>

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

[legend]

List of all members.

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
typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr
Public Member Functions
	CorrespondenceEstimation ()
	Empty constructor.
virtual void	determineCorrespondences (pcl::Correspondences &correspondences, float max_distance=std::numeric_limits< float >::max())
	Determine the correspondences between input and target cloud.
virtual void	determineReciprocalCorrespondences (pcl::Correspondences &correspondences)
	Determine the correspondences between input and target cloud.
PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target.
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)
void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points.
Protected Member Functions
const std::string &	getClassName () const
	Abstract class get name method.
Protected Attributes
std::string	corr_name_
	The correspondence estimation method name.
PointCloudTargetConstPtr	target_
	The input point cloud dataset target.
KdTreePtr	tree_
	A pointer to the spatial search object.
Private Attributes
PointRepresentationConstPtr	point_representation_
	The point representation used (internal).

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

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

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

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

Definition at line 71 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 73 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 75 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 74 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 77 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 79 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

Definition at line 78 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget>

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

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

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.

template<typename PointSource, typename PointTarget>

const std::string& pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::getClassName ( ) const [inline, protected]

Abstract class get name method.

Definition at line 138 of file correspondence_estimation.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.

template<typename PointSource , typename PointTarget >

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

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]