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

#include <pcl/registration/correspondence_estimation.h>

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

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

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List of all members.

Public Types
typedef pcl::KdTree< PointTarget >	KdTree
typedef pcl::KdTree < PointTarget >::Ptr	KdTreePtr
typedef pcl::PointCloud < PointSource >	PointCloudSource
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef pcl::PointCloud < PointTarget >	PointCloudTarget
typedef PointCloudTarget::Ptr	PointCloudTargetPtr
typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr
typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr
typedef pcl::PointCloud < PointSource >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	CorrespondenceEstimation ()
	Empty constructor.
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)
PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target.
void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points.
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.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointSource &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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.

typedef pcl::PointCloud<PointSource > pcl::PCLBase< PointSource >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointSource >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

typedef PointCloud::Ptr pcl::PCLBase< PointSource >::PointCloudPtr [inherited]

Definition at line 75 of file pcl_base.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.

typedef PointIndices::ConstPtr pcl::PCLBase< PointSource >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >.

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointSource >::PointIndicesPtr [inherited]

Reimplemented in pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >.

Definition at line 78 of file pcl_base.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.

IndicesPtr const pcl::PCLBase< PointSource >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointSource >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.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.

const PointSource & pcl::PCLBase< PointSource >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointSource >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.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]

Provide a boost shared pointer to the PointRepresentation to be used when comparing points.

Parameters:

[in] point_representation the PointRepresentation to be used by the k-D tree

Definition at line 107 of file correspondence_estimation.h.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_estimation.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_estimation.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointSource, typename PointTarget> class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointSource, typename PointTarget>
class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >