00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 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_ */