Point Cloud Library (PCL)  1.3.1
correspondence_estimation.h
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00038 
00039 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_
00040 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_
00041 
00042 #include <string>
00043 
00044 #include <pcl/pcl_base.h>
00045 #include <pcl/kdtree/kdtree.h>
00046 #include <pcl/kdtree/kdtree_flann.h>
00047 #include "pcl/win32_macros.h"
00048 
00049 #include <pcl/registration/correspondence_types.h>
00050 
00051 namespace pcl
00052 {
00053   namespace registration
00054   {
00061     template <typename PointSource, typename PointTarget>
00062     class CorrespondenceEstimation : public PCLBase<PointSource>
00063     {
00064       public:
00065         using PCLBase<PointSource>::initCompute;
00066         using PCLBase<PointSource>::deinitCompute;
00067         using PCLBase<PointSource>::input_;
00068         using PCLBase<PointSource>::indices_;
00069 
00070         typedef typename pcl::KdTree<PointTarget> KdTree;
00071         typedef typename pcl::KdTree<PointTarget>::Ptr KdTreePtr;
00072 
00073         typedef pcl::PointCloud<PointSource> PointCloudSource;
00074         typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
00075         typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
00076 
00077         typedef pcl::PointCloud<PointTarget> PointCloudTarget;
00078         typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
00079         typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
00080 
00081         typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;
00082 
00084         CorrespondenceEstimation () : target_ (),
00085             point_representation_ ()
00086         {
00087           tree_.reset (new pcl::KdTreeFLANN<PointTarget>);     // FLANN tree for nearest neighbor search
00088         }
00089 
00094         virtual inline void 
00095         setInputTarget (const PointCloudTargetConstPtr &cloud);
00096 
00098         inline PointCloudTargetConstPtr const 
00099         getInputTarget () { return (target_ ); }
00100 
00104         inline void
00105         setPointRepresentation (const PointRepresentationConstPtr &point_representation)
00106         {
00107           point_representation_ = point_representation;
00108         }
00109 
00114         virtual void 
00115         determineCorrespondences (pcl::Correspondences &correspondences,
00116                                   float max_distance = std::numeric_limits<float>::max ());
00117 
00121         virtual void 
00122         determineReciprocalCorrespondences (pcl::Correspondences &correspondences);
00123 
00124       protected:
00126         std::string corr_name_;
00127 
00129         KdTreePtr tree_;
00130 
00132         PointCloudTargetConstPtr target_;
00133 
00135         inline const std::string& 
00136         getClassName () const { return (corr_name_); }
00137 
00138       private:
00140         PointRepresentationConstPtr point_representation_;
00141      };
00142   }
00143 }
00144 
00145 #include "pcl/registration/impl/correspondence_estimation.hpp"
00146 
00147 #endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_H_ */
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