Point Cloud Library (PCL)
1.10.1
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42 #include <pcl/registration/correspondence_types.h>
43 #include <pcl/registration/correspondence_estimation.h>
47 namespace registration
54 template <
typename Po
intSource,
typename Po
intTarget,
typename NormalT,
typename Scalar =
float>
93 , source_normals_transformed_ ()
97 corr_name_ =
"CorrespondenceEstimationBackProjection";
161 double max_distance = std::numeric_limits<double>::max ());
172 double max_distance = std::numeric_limits<double>::max ());
225 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
This file defines compatibility wrappers for low level I/O functions.
NormalsConstPtr getTargetNormals() const
Get the normals of the target point cloud.
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const
Clone and cast to CorrespondenceEstimationBase.
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which h...
typename PointCloudTarget::Ptr PointCloudTargetPtr
Abstract CorrespondenceEstimationBase class.
virtual ~CorrespondenceEstimationBackProjection()
Empty destructor.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
shared_ptr< KdTree< PointT, Tree > > Ptr
typename PointCloudSource::Ptr PointCloudSourcePtr
CorrespondenceEstimationBackProjection()
Empty constructor.
bool requiresTargetNormals() const
See if this rejector requires target normals.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > ConstPtr
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target normals.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
virtual void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the reciprocal correspondences between input and target cloud.
bool requiresSourceNormals() const
See if this rejector requires source normals.
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
typename PointCloudNormals::ConstPtr NormalsConstPtr
std::string corr_name_
The correspondence estimation method name.
typename KdTree::Ptr KdTreePtr
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source normals.
shared_ptr< PointCloud< PointSource > > Ptr
unsigned int getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
typename PointCloudNormals::Ptr NormalsPtr
shared_ptr< const PointCloud< PointSource > > ConstPtr
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the correspondences between input and target cloud.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
bool initCompute()
Internal computation initialization.