pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > Class Template Reference
[Module registration]

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, Scalar >:
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List of all members.

Public Types

typedef boost::shared_ptr
< CorrespondenceEstimationNormalShooting
< PointSource, PointTarget,
NormalT, Scalar > > 		Ptr
typedef boost::shared_ptr
< const
CorrespondenceEstimationNormalShooting
< PointSource, PointTarget,
NormalT, Scalar > > 		ConstPtr
typedef pcl::search::KdTree
< PointTarget > 		KdTree
typedef pcl::search::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 pcl::PointCloud< NormalT > PointCloudNormals
typedef PointCloudNormals::Ptr NormalsPtr
typedef PointCloudNormals::ConstPtr NormalsConstPtr

Public Member Functions

 CorrespondenceEstimationNormalShooting ()
 Empty constructor.
virtual ~CorrespondenceEstimationNormalShooting ()
 Empty destructor.
void setSourceNormals (const NormalsConstPtr &normals)
 Set the normals computed on the source point cloud.
NormalsConstPtr getSourceNormals () const
 Get the normals of the source point cloud.
void determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
 Determine the correspondences between input and target cloud.
virtual void determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
 Determine the reciprocal 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 correspondences.

Protected Member Functions

bool initCompute ()
 Internal computation initalization.

Detailed Description

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

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

Code example:

 pcl::PointCloud<pcl::PointNormal>::Ptr source, target;
 // ... read or fill in source and target
 pcl::CorrespondenceEstimationNormalShooting<pcl::PointNormal, pcl::PointNormal, pcl::PointNormal> est;
 est.setInputSource (source);
 est.setSourceNormals (source);

 est.setInputTarget (target);

 // Test the first 10 correspondences for each point in source, and return the best
 est.setKSearch (10);

 pcl::Correspondences all_correspondences;
 // Determine all correspondences
 est.determineCorrespondences (all_correspondences);
Author:
Aravindhan K. Krishnan, Radu B. Rusu

Definition at line 78 of file correspondence_estimation_normal_shooting.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef boost::shared_ptr<const CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar> > pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::ConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 82 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef pcl::search::KdTree<PointTarget> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::KdTree

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 94 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef pcl::search::KdTree<PointTarget>::Ptr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::KdTreePtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 95 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudNormals::ConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsConstPtr

Definition at line 107 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudNormals::Ptr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsPtr

Definition at line 106 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef pcl::PointCloud<NormalT> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudNormals

Definition at line 105 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef pcl::PointCloud<PointSource> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSource

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 97 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourceConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 99 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudSource::Ptr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudSourcePtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 98 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef pcl::PointCloud<PointTarget> pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTarget

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 101 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 103 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef PointCloudTarget::Ptr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudTargetPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 102 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
typedef boost::shared_ptr<CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar> > pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::Ptr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 81 of file correspondence_estimation_normal_shooting.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::CorrespondenceEstimationNormalShooting (  )  [inline]

Empty constructor.

Note:
Sets the number of neighbors to be considered in the target point cloud (k_) to 10.

Definition at line 114 of file correspondence_estimation_normal_shooting.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::corr_name_.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
virtual pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::~CorrespondenceEstimationNormalShooting (  )  [inline, virtual]

Empty destructor.

Definition at line 123 of file correspondence_estimation_normal_shooting.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::determineCorrespondences ( pcl::Correspondences &  correspondences,
double  max_distance = std::numeric_limits<double>::max () 
) [inline, 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

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 58 of file correspondence_estimation_normal_shooting.hpp.

References pcl::PCLBase< PointSource >::deinitCompute(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, pcl::PCLBase< PointSource >::indices_, pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::initCompute(), pcl::PCLBase< PointSource >::input_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::determineReciprocalCorrespondences ( pcl::Correspondences &  correspondences,
double  max_distance = std::numeric_limits<double>::max () 
) [inline, virtual]

Determine the reciprocal correspondences between input and target cloud.

A correspondence is considered reciprocal if both Src_i has Tgt_i as a correspondence, and Tgt_i has Src_i as one.

Parameters:
[out] correspondences the found correspondences (index of query and target point, distance)
[in] max_distance maximum allowed distance between correspondences

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 175 of file correspondence_estimation_normal_shooting.hpp.

References pcl::PCLBase< PointSource >::deinitCompute(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, pcl::PCLBase< PointSource >::indices_, pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::initCompute(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::initComputeReciprocal(), pcl::PCLBase< PointSource >::input_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::getKSearch (  )  const [inline]

Get the number of nearest neighbours considered in the target point cloud for computing correspondences.

By default we use k = 10 nearest neighbors.

Definition at line 169 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
NormalsConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::getSourceNormals (  )  const [inline]

Get the normals of the source point cloud.

Definition at line 134 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
bool pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::initCompute (  )  [inline, protected]

Internal computation initalization.

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 45 of file correspondence_estimation_normal_shooting.hpp.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName().

Referenced by pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::determineCorrespondences(), and pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::determineReciprocalCorrespondences().

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setKSearch ( unsigned int  k  )  [inline]

Set the number of nearest neighbours to be considered in the target point cloud.

By default, we use k = 10 nearest neighbors.

Parameters:
[in] k the number of nearest neighbours to be considered

Definition at line 162 of file correspondence_estimation_normal_shooting.h.

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals ( const NormalsConstPtr &  normals  )  [inline]

Set the normals computed on the source point cloud.

Parameters:
[in] normals the normals computed for the source cloud

Definition at line 129 of file correspondence_estimation_normal_shooting.h.

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