CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud More...

#include <correspondence_estimation_normal_shooting.h>

Inheritance diagram for pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >:

[legend]

List of all members.

Public Types
typedef pcl::KdTree< PointTarget >	KdTree
typedef pcl::KdTree < PointTarget >::Ptr	KdTreePtr
typedef pcl::PointCloud < NormalT >::Ptr	NormalsPtr
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
	CorrespondenceEstimationNormalShooting ()
	Empty constructor.
void	determineCorrespondences (pcl::Correspondences &correspondences, float max_distance=std::numeric_limits< float >::max())
	Determine the correspondences between input and target cloud.
void	getKSearch () const
	Get the number of nearest neighbours considered in the target point cloud for computing correspondence.
NormalsPtr	getSourceNormals () const
	Get the normals of the input point cloud.
void	setKSearch (unsigned int k)
	Set the number of nearest neighbours to be considered in the target point cloud.
void	setSourceNormals (const NormalsPtr &normals)
	Set the normals computed on the input point cloud.
Private Attributes
unsigned int	k_
	The number of neighbours to be considered in the target point cloud.
NormalsPtr	source_normals_
	The normals computed at each point in the input cloud.

Detailed Description

template<typename PointSource, typename PointTarget, typename NormalT>
class pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >

CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud

Author:: Aravindhan K Krishnan

Definition at line 55 of file correspondence_estimation_normal_shooting.h.

Member Typedef Documentation

template<typename PointSource, typename PointTarget, typename NormalT>

typedef pcl::KdTree<PointTarget> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::KdTree

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 64 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

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

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 65 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

typedef pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::NormalsPtr

Definition at line 76 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

typedef pcl::PointCloud<PointSource> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::PointCloudSource

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 67 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

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

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 69 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

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

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 68 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

typedef pcl::PointCloud<PointTarget> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::PointCloudTarget

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 71 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

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

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 73 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

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

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 72 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

typedef KdTree::PointRepresentationConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::PointRepresentationConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 75 of file correspondence_estimation_normal_shooting.h.

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget, typename NormalT>

pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::CorrespondenceEstimationNormalShooting ( ) [inline]

Empty constructor.

Definition at line 79 of file correspondence_estimation_normal_shooting.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename NormalT >

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::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 the normal on the source point cloud and the corresponding point in the target point cloud

Reimplemented from pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >.

Definition at line 45 of file correspondence_estimation_normal_shooting.hpp.

template<typename PointSource, typename PointTarget, typename NormalT>

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::getKSearch ( ) const [inline]

Get the number of nearest neighbours considered in the target point cloud for computing correspondence.

Definition at line 113 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

NormalsPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::getSourceNormals ( ) const [inline]

Get the normals of the input point cloud.

Definition at line 93 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::setKSearch ( unsigned int k ) [inline]

Set the number of nearest neighbours to be considered in the target point cloud.

Parameters:

[in] k the number of nearest neighbours to be considered

Definition at line 108 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource, typename PointTarget, typename NormalT>

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT >::setSourceNormals ( const NormalsPtr & normals ) [inline]