Point Cloud Library (PCL)
1.3.1
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CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. More...
#include <pcl/registration/correspondence_estimation.h>
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. |
CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features.
typedef pcl::KdTree<PointTarget> pcl::registration::CorrespondenceEstimation::KdTree |
Definition at line 70 of file correspondence_estimation.h.
typedef pcl::KdTree<PointTarget>::Ptr pcl::registration::CorrespondenceEstimation::KdTreePtr |
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.
typedef PointCloud::ConstPtr pcl::PCLBase::PointCloudConstPtr [inherited] |
Definition at line 76 of file pcl_base.h.
typedef PointCloud::Ptr pcl::PCLBase::PointCloudPtr [inherited] |
Definition at line 75 of file pcl_base.h.
typedef pcl::PointCloud<PointSource> pcl::registration::CorrespondenceEstimation::PointCloudSource |
Definition at line 73 of file correspondence_estimation.h.
typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceEstimation::PointCloudSourceConstPtr |
Definition at line 75 of file correspondence_estimation.h.
Definition at line 74 of file correspondence_estimation.h.
typedef pcl::PointCloud<PointTarget> pcl::registration::CorrespondenceEstimation::PointCloudTarget |
Definition at line 77 of file correspondence_estimation.h.
typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceEstimation::PointCloudTargetConstPtr |
Definition at line 79 of file correspondence_estimation.h.
Definition at line 78 of file correspondence_estimation.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef KdTree::PointRepresentationConstPtr pcl::registration::CorrespondenceEstimation::PointRepresentationConstPtr |
Definition at line 81 of file correspondence_estimation.h.
pcl::registration::CorrespondenceEstimation::CorrespondenceEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 84 of file correspondence_estimation.h.
void pcl::registration::CorrespondenceEstimation::determineCorrespondences | ( | pcl::Correspondences & | correspondences, |
float | max_distance = std::numeric_limits<float>::max () |
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) | [virtual] |
Determine the correspondences between input and target cloud.
[out] | correspondences | the found correspondences (index of query point, index of target point, distance) |
[in] | max_distance | maximum 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.
[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::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.
pos | position 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.
indices | a 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.
indices | a 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.
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 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the 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)
[in] | cloud | the 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.
[in] | point_representation | the PointRepresentation to be used by the k-D tree |
Definition at line 105 of file correspondence_estimation.h.