Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::registration::CorrespondenceEstimation Class Reference

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:
Inheritance graph
[legend]
Collaboration diagram for pcl::registration::CorrespondenceEstimation:
Collaboration graph
[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< PointT > 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 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 PointT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Detailed Description

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

Author:
Radu Bogdan Rusu, Michael Dixon, Dirk Holz

Member Typedef Documentation

Definition at line 70 of file correspondence_estimation.h.

Definition at line 71 of file correspondence_estimation.h.

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

Definition at line 74 of file pcl_base.h.

Definition at line 76 of file pcl_base.h.

Definition at line 75 of file pcl_base.h.

Definition at line 73 of file correspondence_estimation.h.

Definition at line 75 of file correspondence_estimation.h.

Definition at line 74 of file correspondence_estimation.h.

Definition at line 77 of file correspondence_estimation.h.

Definition at line 79 of file correspondence_estimation.h.

Definition at line 78 of file correspondence_estimation.h.

Definition at line 79 of file pcl_base.h.

Definition at line 78 of file pcl_base.h.

Definition at line 81 of file correspondence_estimation.h.


Constructor & Destructor Documentation

pcl::registration::CorrespondenceEstimation::CorrespondenceEstimation ( ) [inline]

Empty constructor.

Definition at line 84 of file correspondence_estimation.h.


Member Function Documentation

void pcl::registration::CorrespondenceEstimation::determineCorrespondences ( pcl::Correspondences correspondences,
float  max_distance = std::numeric_limits<float>::max () 
) [virtual]

Determine the correspondences between input and target cloud.

Parameters:
[out]correspondencesthe found correspondences (index of query point, index of target point, distance)
[in]max_distancemaximum distance between correspondences

Definition at line 60 of file correspondence_estimation.hpp.

void pcl::registration::CorrespondenceEstimation::determineReciprocalCorrespondences ( pcl::Correspondences correspondences) [virtual]

Determine the correspondences between input and target cloud.

Parameters:
[out]correspondencesthe found correspondences (index of query and target point, distance)

Definition at line 107 of file correspondence_estimation.hpp.

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

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

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

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

PointCloudTargetConstPtr const pcl::registration::CorrespondenceEstimation::getInputTarget ( ) [inline]

Get a pointer to the input point cloud dataset target.

Definition at line 99 of file correspondence_estimation.h.

const PointT& pcl::PCLBase::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:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

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

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::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_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

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

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::registration::CorrespondenceEstimation::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]cloudthe input point cloud target

Definition at line 46 of file correspondence_estimation.hpp.

void pcl::registration::CorrespondenceEstimation::setPointRepresentation ( const PointRepresentationConstPtr point_representation) [inline]

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

Parameters:
[in]point_representationthe PointRepresentation to be used by the k-D tree

Definition at line 105 of file correspondence_estimation.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines