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

#include <pcl/registration/correspondence_estimation_normal_shooting.h>

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

[legend]

Collaboration 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 < 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 < NormalT >::Ptr	NormalsPtr
typedef pcl::PointCloud < PointSource >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	CorrespondenceEstimationNormalShooting ()
	Empty constructor.
void	setSourceNormals (const NormalsPtr &normals)
	Set the normals computed on the input point cloud.
NormalsPtr	getSourceNormals () const
	Get the normals of the input point cloud.
void	determineCorrespondences (pcl::Correspondences &correspondences, float max_distance=std::numeric_limits< float >::max())
	Determine the correspondences between input and target cloud.
void	setKSearch (unsigned int k)
	Set the number of nearest neighbours to be considered in the target point cloud.
void	getKSearch () const
	Get the number of nearest neighbours considered in the target point cloud for computing correspondence.
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	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, 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.

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 , 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.

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 , 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 >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::determineReciprocalCorrespondences ( pcl::Correspondences & correspondences ) [virtual, inherited]

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, inherited]

Get a pointer to the input point cloud dataset target.

Definition at line 101 of file correspondence_estimation.h.

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.

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, inherited]

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 , 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 >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation ) [inline, inherited]

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.

template<typename PointSource , typename PointTarget , typename NormalT >

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

Set the normals computed on the input point cloud.

Parameters:

[in] normals the normals computed for the input cloud

Definition at line 88 of file correspondence_estimation_normal_shooting.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_normal_shooting.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_estimation_normal_shooting.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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