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< PointSource, PointTarget, Scalar >:

Collaboration diagram for pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >:

Public Types
typedef boost::shared_ptr< CorrespondenceEstimation< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr< const CorrespondenceEstimation< PointSource, PointTarget, 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 KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr

Public Types inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >
typedef boost::shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >	ConstPtr

typedef pcl::search::KdTree< PointTarget >	KdTree

typedef KdTree::Ptr	KdTreePtr

typedef pcl::search::KdTree< PointSource >	KdTreeReciprocal

typedef KdTree::Ptr	KdTreeReciprocalPtr

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

Public Types inherited from pcl::PCLBase< PointSource >
typedef pcl::PointCloud< PointSource >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr< PointIndices >	PointIndicesPtr

typedef boost::shared_ptr< PointIndices const >	PointIndicesConstPtr

Public Member Functions
	CorrespondenceEstimation ()
	Empty constructor. More...

virtual	~CorrespondenceEstimation ()
	Empty destructor. More...

virtual void	determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
	Determine the correspondences between input and target cloud. More...

virtual void	determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
	Determine the reciprocal correspondences between input and target cloud. More...

Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >
	CorrespondenceEstimationBase ()
	Empty constructor. More...

virtual	~CorrespondenceEstimationBase ()
	Empty destructor. More...

	PCL_DEPRECATED (void setInputCloud(const PointCloudSourceConstPtr &cloud),"[pcl::registration::CorrespondenceEstimationBase::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

	PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud(),"[pcl::registration::CorrespondenceEstimationBase::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
	Get a pointer to the input point cloud dataset target. More...

void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...

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) More...

PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...

void	setIndicesSource (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input source point cloud. More...

IndicesPtr const	getIndicesSource ()
	Get a pointer to the vector of indices used for the source dataset. More...

void	setIndicesTarget (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input target point cloud. More...

IndicesPtr const	getIndicesTarget ()
	Get a pointer to the vector of indices used for the target dataset. More...

void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud. More...

void	setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...

KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud. More...

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when searching for nearest neighbors. More...

Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual 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. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >
const std::string &	getClassName () const
	Abstract class get name method. More...

bool	initCompute ()
	Internal computation initalization. More...

bool	initComputeReciprocal ()
	Internal computation initalization for reciprocal correspondences. More...

Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >
std::string	corr_name_
	The correspondence estimation method name. More...

KdTreePtr	tree_
	A pointer to the spatial search object used for the target dataset. More...

KdTreeReciprocalPtr	tree_reciprocal_
	A pointer to the spatial search object used for the source dataset. More...

PointCloudTargetConstPtr	target_
	The input point cloud dataset target. More...

IndicesPtr	target_indices_
	The target point cloud dataset indices. More...

PointRepresentationConstPtr	point_representation_
	The point representation used (internal). More...

PointCloudTargetPtr	input_transformed_
	The transformed input source point cloud dataset. More...

std::vector< pcl::PCLPointField >	input_fields_
	The types of input point fields available. More...

bool	target_cloud_updated_
	Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...

bool	source_cloud_updated_
	Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...

bool	force_no_recompute_
	A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...

bool	force_no_recompute_reciprocal_
	A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...

Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

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

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

Code example:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr source, target;
// ... read or fill in source and target
pcl::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ> est;
est.setInputSource (source);
est.setInputTarget (target);
pcl::Correspondences all_correspondences;
// Determine all reciprocal correspondences
est.determineReciprocalCorrespondences (all_correspondences);

Author: Radu B. Rusu, Michael Dixon, Dirk Holz

Definition at line 347 of file correspondence_estimation.h.