Point Cloud Library (PCL)
1.9.1
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
43 #include <pcl/registration/correspondence_types.h>
44 #include <pcl/registration/correspondence_estimation.h>
48 namespace registration
55 template <
typename Po
intSource,
typename Po
intTarget,
typename NormalT,
typename Scalar =
float>
59 typedef boost::shared_ptr<CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> >
Ptr;
60 typedef boost::shared_ptr<const CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> >
ConstPtr;
94 , source_normals_transformed_ ()
98 corr_name_ =
"CorrespondenceEstimationBackProjection";
162 double max_distance = std::numeric_limits<double>::max ());
173 double max_distance = std::numeric_limits<double>::max ());
191 virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
226 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
PointCloudNormals::ConstPtr NormalsConstPtr
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointSource > > Ptr
pcl::search::KdTree< PointTarget > KdTree
NormalsConstPtr getTargetNormals() const
Get the normals of the target point cloud.
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which h...
PointCloudSource::ConstPtr PointCloudSourceConstPtr
PointCloudTarget::Ptr PointCloudTargetPtr
Abstract CorrespondenceEstimationBase class.
virtual ~CorrespondenceEstimationBackProjection()
Empty destructor.
CorrespondenceEstimationBackProjection()
Empty constructor.
boost::shared_ptr< KdTree< PointT, Tree > > Ptr
PointCloudSource::Ptr PointCloudSourcePtr
bool requiresTargetNormals() const
See if this rejector requires target normals.
virtual boost::shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > clone() const
Clone and cast to CorrespondenceEstimationBase.
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
PointCloudNormals::Ptr NormalsPtr
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target normals.
virtual void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the reciprocal correspondences between input and target cloud.
bool requiresSourceNormals() const
See if this rejector requires source normals.
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
std::string corr_name_
The correspondence estimation method name.
pcl::search::KdTree< PointTarget >::Ptr KdTreePtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source normals.
pcl::PointCloud< PointTarget > PointCloudTarget
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
boost::shared_ptr< const CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > ConstPtr
unsigned int getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
boost::shared_ptr< CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > Ptr
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the correspondences between input and target cloud.
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
pcl::PointCloud< NormalT > PointCloudNormals
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
pcl::PointCloud< PointSource > PointCloudSource
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
bool initCompute()
Internal computation initialization.