Point Cloud Library (PCL)
1.11.1-dev
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43 #include <pcl/registration/correspondence_estimation.h>
44 #include <pcl/registration/correspondence_types.h>
47 namespace registration {
73 template <
typename PointSource,
76 typename Scalar =
float>
123 : source_normals_(), source_normals_transformed_(), k_(10)
125 corr_name_ =
"CorrespondenceEstimationNormalShooting";
137 source_normals_ = normals;
145 return (source_normals_);
173 double max_distance = std::numeric_limits<double>::max())
override;
186 double max_distance = std::numeric_limits<double>::max())
override;
244 #include <pcl/registration/impl/correspondence_estimation_normal_shooting.hpp>
A point structure representing normal coordinates and the surface curvature estimate.
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the correspondences between input and target cloud.
CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which h...
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
shared_ptr< const CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > > ConstPtr
unsigned int getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the reciprocal correspondences between input and target cloud.
CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const override
Clone and cast to CorrespondenceEstimationBase.
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
CorrespondenceEstimationNormalShooting()
Empty constructor.
shared_ptr< CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > > Ptr
Abstract CorrespondenceEstimationBase class.
KdTreeReciprocalPtr tree_reciprocal_
A pointer to the spatial search object used for the source dataset.
shared_ptr< KdTree< PointT, Tree > > Ptr
typename PointCloudSource::Ptr PointCloudSourcePtr
typename PointCloudNormals::ConstPtr NormalsConstPtr
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
bool initComputeReciprocal()
Internal computation initialization for reciprocal correspondences.
PointRepresentationConstPtr point_representation_
The point representation used (internal).
PointCloudTargetPtr input_transformed_
The transformed input source point cloud dataset.
typename PointCloudNormals::Ptr NormalsPtr
typename KdTree::Ptr KdTreePtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
bool initCompute()
Internal computation initialization.
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
bool requiresSourceNormals() const override
See if this rejector requires source normals.
~CorrespondenceEstimationNormalShooting()
Empty destructor.
std::string corr_name_
The correspondence estimation method name.
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source normals.
shared_ptr< PointCloud< PointSource > > Ptr
shared_ptr< const PointCloud< PointSource > > ConstPtr
typename PointCloudTarget::Ptr PointCloudTargetPtr
NormalsConstPtr getSourceNormals() const
Get the normals of the source point 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.