correspondence_estimation_normal_shooting.h
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00038 
00039 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
00040 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
00041 
00042 #include <pcl/registration/correspondence_types.h>
00043 #include <pcl/registration/correspondence_estimation.h>
00044 
00045 namespace pcl
00046 {
00047   namespace registration
00048   {
00054     template <typename PointSource, typename PointTarget, typename NormalT>
00055     class CorrespondenceEstimationNormalShooting : public CorrespondenceEstimation <PointSource, PointTarget>
00056     {
00057       public:
00058         using PCLBase<PointSource>::initCompute;
00059         using PCLBase<PointSource>::deinitCompute;
00060         using PCLBase<PointSource>::input_;
00061         using PCLBase<PointSource>::indices_;
00062         using CorrespondenceEstimation<PointSource, PointTarget>::getClassName;
00063 
00064         typedef typename pcl::KdTree<PointTarget> KdTree;
00065         typedef typename pcl::KdTree<PointTarget>::Ptr KdTreePtr;
00066 
00067         typedef pcl::PointCloud<PointSource> PointCloudSource;
00068         typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
00069         typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
00070 
00071         typedef pcl::PointCloud<PointTarget> PointCloudTarget;
00072         typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
00073         typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
00074 
00075         typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;
00076         typedef typename pcl::PointCloud<NormalT>::Ptr NormalsPtr;
00077 
00079         CorrespondenceEstimationNormalShooting ()
00080         {
00081           corr_name_ = "NormalShooting";
00082         }
00083 
00087         inline void
00088         setSourceNormals (const NormalsPtr &normals) { source_normals_ = normals; }
00089 
00092         inline NormalsPtr
00093         getSourceNormals () const { return (source_normals_); }
00094 
00100         void 
00101         determineCorrespondences (pcl::Correspondences &correspondences,
00102                                   float max_distance = std::numeric_limits<float>::max ());
00103 
00107         inline void
00108         setKSearch (unsigned int k) { k_ = k; }
00109 
00112         inline void
00113         getKSearch () const { return (k_); }
00114 
00115       protected:
00116 
00117         using CorrespondenceEstimation<PointSource, PointTarget>::corr_name_;
00118         using CorrespondenceEstimation<PointSource, PointTarget>::tree_;
00119         using CorrespondenceEstimation<PointSource, PointTarget>::target_;
00120 
00121       private:
00122 
00124         NormalsPtr source_normals_; 
00125 
00127         unsigned int k_;
00128     };
00129   }
00130 }
00131 
00132 #include <pcl/registration/impl/correspondence_estimation_normal_shooting.hpp>
00133 #endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:44