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CorrespondenceEstimation represents a simple class for determining correspondences between target and query point sets/features, using nearest neighbor search. More...

#include <pcl/registration/correspondence_estimation.h>

Public Types
using	Ptr = shared_ptr< CorrespondenceEstimation< PointSource, PointTarget, Scalar > >
using	ConstPtr = shared_ptr< const CorrespondenceEstimation< PointSource, PointTarget, Scalar > >
using	KdTree = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTree
using	KdTreePtr = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreePtr
using	KdTreeConstPtr = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeConstPtr
using	KdTreeReciprocal = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocal
using	KdTreeReciprocalPtr = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr
using	KdTreeReciprocalConstPtr = typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocalConstPtr
using	PointCloudSource = pcl::PointCloud< PointSource >
using	PointCloudSourcePtr = typename PointCloudSource::Ptr
using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr
using	PointCloudTarget = pcl::PointCloud< PointTarget >
using	PointCloudTargetPtr = typename PointCloudTarget::Ptr
using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr
using	PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr
using	PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr
Public Types inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
using	Ptr = shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, float > >
using	ConstPtr = shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, float > >
using	KdTree = pcl::search::KdTree< PointTarget >
using	KdTreePtr = typename KdTree::Ptr
using	KdTreeConstPtr = typename KdTree::ConstPtr
using	KdTreeReciprocal = pcl::search::KdTree< PointSource >
using	KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr
using	KdTreeReciprocalConstPtr = typename KdTreeReciprocal::ConstPtr
using	PointCloudSource = pcl::PointCloud< PointSource >
using	PointCloudSourcePtr = typename PointCloudSource::Ptr
using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr
using	PointCloudTarget = pcl::PointCloud< PointTarget >
using	PointCloudTargetPtr = typename PointCloudTarget::Ptr
using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr
using	PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr
using	PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr
Public Types inherited from pcl::PCLBase< PointSource >
using	PointCloud = pcl::PointCloud< PointSource >
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	CorrespondenceEstimation ()
	Empty constructor. More...
	~CorrespondenceEstimation () override=default
	Empty destructor. More...
void	determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
	Determine the correspondences between input and target cloud. More...
void	determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
	Determine the reciprocal correspondences between input and target cloud. More...
CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr	clone () const override
	Clone and cast to CorrespondenceEstimationBase. More...
Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
	CorrespondenceEstimationBase ()
	Empty constructor. More...
	~CorrespondenceEstimationBase () override=default
	Empty destructor. 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	setNumberOfThreads (unsigned int nr_threads)
	Set the number of threads to use. More...
virtual bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...
virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals. More...
virtual bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...
virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals. 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 for target cloud to be used when searching for nearest neighbors. More...
void	setPointRepresentationReciprocal (const PointRepresentationReciprocalConstPtr &point_representation_reciprocal)
	Provide a boost shared pointer to the PointRepresentation for source cloud 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 ()=default
	Destructor. More...
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...
PointCloudConstPtr const	getInputCloud () const
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...
const PointSource &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
const std::string &	getClassName () const
	Abstract class get name method. More...
bool	initCompute ()
	Internal computation initialization. More...
bool	initComputeReciprocal ()
	Internal computation initialization 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, float >
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 target point representation used (internal). More...
PointRepresentationReciprocalConstPtr	point_representation_reciprocal_
	The source 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...
unsigned int	num_threads_
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 a simple class for determining correspondences between target and query point sets/features, using nearest neighbor search.

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);
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::Correspondencesstd::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > CorrespondencesDefinition: correspondence.h:89
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89

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

Definition at line 408 of file correspondence_estimation.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimation<PointSource, PointTarget, Scalar> >

Definition at line 412 of file correspondence_estimation.h.

KdTree

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTree = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::KdTree

Definition at line 434 of file correspondence_estimation.h.

KdTreeConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeConstPtr = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::KdTreeConstPtr

Definition at line 439 of file correspondence_estimation.h.

KdTreePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreePtr = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::KdTreePtr

Definition at line 436 of file correspondence_estimation.h.

KdTreeReciprocal

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocal = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>:: KdTreeReciprocal

Definition at line 442 of file correspondence_estimation.h.

KdTreeReciprocalConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocalConstPtr = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>:: KdTreeReciprocalConstPtr

Definition at line 449 of file correspondence_estimation.h.

KdTreeReciprocalPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr = typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>:: KdTreeReciprocalPtr

Definition at line 445 of file correspondence_estimation.h.

PointCloudSource

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource>

Definition at line 453 of file correspondence_estimation.h.

PointCloudSourceConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 455 of file correspondence_estimation.h.

PointCloudSourcePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 454 of file correspondence_estimation.h.

PointCloudTarget

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget>

Definition at line 457 of file correspondence_estimation.h.

PointCloudTargetConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Definition at line 459 of file correspondence_estimation.h.

PointCloudTargetPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr

Definition at line 458 of file correspondence_estimation.h.

PointRepresentationConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

Definition at line 461 of file correspondence_estimation.h.

PointRepresentationReciprocalConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr

Definition at line 462 of file correspondence_estimation.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<CorrespondenceEstimation<PointSource, PointTarget, Scalar> >

Definition at line 411 of file correspondence_estimation.h.

Constructor & Destructor Documentation

CorrespondenceEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::CorrespondenceEstimation ( )

inline

Empty constructor.

Definition at line 466 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::corr_name_.

~CorrespondenceEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::~CorrespondenceEstimation ( )

overridedefault

Empty destructor.

Member Function Documentation

clone()

template<typename PointSource , typename PointTarget , typename Scalar = float>

CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::Ptr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::clone ( ) const

inlineoverridevirtual

Clone and cast to CorrespondenceEstimationBase.

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 496 of file correspondence_estimation.h.

determineCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::determineCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance = `std::numeric_limits<double>::max()`
	)

overridevirtual

Determine the correspondences between input and target cloud.

Parameters

[out]	correspondences	the found correspondences (index of query point, index of target point, distance)
[in]	max_distance	maximum allowed distance between correspondences

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 147 of file correspondence_estimation.hpp.

References pcl::geometry::distance(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, and pcl::isXYZFinite().

Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation().

determineReciprocalCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::determineReciprocalCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance = `std::numeric_limits<double>::max()`
	)

overridevirtual

Determine the reciprocal correspondences between input and target cloud.

A correspondence is considered reciprocal if both Src_i has Tgt_i as a correspondence, and Tgt_i has Src_i as one.

Parameters

[out]	correspondences	the found correspondences (index of query and target point, distance)
[in]	max_distance	maximum allowed distance between correspondences

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 222 of file correspondence_estimation.hpp.

References pcl::geometry::distance(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, and pcl::isXYZFinite().

The documentation for this class was generated from the following files:

pcl/registration/correspondence_estimation.h
pcl/registration/impl/correspondence_estimation.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_estimation.html

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

ConstPtr

KdTree

KdTreeConstPtr

KdTreePtr

KdTreeReciprocal

KdTreeReciprocalConstPtr

KdTreeReciprocalPtr

PointCloudSource

PointCloudSourceConstPtr

PointCloudSourcePtr

PointCloudTarget

PointCloudTargetConstPtr

PointCloudTargetPtr

PointRepresentationConstPtr

PointRepresentationReciprocalConstPtr

Ptr

Constructor & Destructor Documentation

CorrespondenceEstimation()

~CorrespondenceEstimation()

Member Function Documentation

clone()

determineCorrespondences()

determineReciprocalCorrespondences()

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