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Abstract CorrespondenceEstimationBase class. More...

#include <pcl/registration/correspondence_estimation.h>

Public Types

using Ptr = shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >
using ConstPtr = shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > >
using KdTree = pcl::search::KdTree< PointTarget >
using KdTreePtr = typename KdTree::Ptr
using KdTreeReciprocal = pcl::search::KdTree< PointSource >
using KdTreeReciprocalPtr = typename KdTree::Ptr
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
- 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

CorrespondenceEstimationBase ()
Empty constructor. More...
~CorrespondenceEstimationBase ()
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...
const PointCloudSourceConstPtr 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...
const PointCloudTargetConstPtr getInputTarget ()
Get a pointer to the input point cloud dataset target. 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...
const IndicesPtr 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...
const IndicesPtr 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...
virtual void determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())=0
Determine the correspondences between input and target cloud. More...
virtual void determineReciprocalCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())=0
Determine the reciprocal correspondences between input and target 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...
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone () const =0
Clone and cast to CorrespondenceEstimationBase. 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...
const PointCloudConstPtr 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...
const IndicesConstPtr 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...

Protected Member Functions

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

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::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >

Abstract CorrespondenceEstimationBase class.

All correspondence estimation methods should inherit from this.

Author
Radu B. Rusu

Definition at line 60 of file correspondence_estimation.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >

Definition at line 65 of file correspondence_estimation.h.

KdTree

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTree = pcl::search::KdTree<PointTarget>

Definition at line 73 of file correspondence_estimation.h.

KdTreePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreePtr = typename KdTree::Ptr

Definition at line 74 of file correspondence_estimation.h.

KdTreeReciprocal

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocal = pcl::search::KdTree<PointSource>

Definition at line 76 of file correspondence_estimation.h.

KdTreeReciprocalPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr = typename KdTree::Ptr

Definition at line 77 of file correspondence_estimation.h.

PointCloudSource

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource>

Definition at line 79 of file correspondence_estimation.h.

PointCloudSourceConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 81 of file correspondence_estimation.h.

PointCloudSourcePtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 80 of file correspondence_estimation.h.

PointCloudTarget

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget>

Definition at line 83 of file correspondence_estimation.h.

PointCloudTargetConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Definition at line 85 of file correspondence_estimation.h.

PointCloudTargetPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr

Definition at line 84 of file correspondence_estimation.h.

PointRepresentationConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

Definition at line 87 of file correspondence_estimation.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >

Definition at line 63 of file correspondence_estimation.h.

Constructor & Destructor Documentation

CorrespondenceEstimationBase()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::CorrespondenceEstimationBase ( )
inline

Empty constructor.

Definition at line 90 of file correspondence_estimation.h.

~CorrespondenceEstimationBase()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::~CorrespondenceEstimationBase ( )
inline

Empty destructor.

Definition at line 104 of file correspondence_estimation.h.

Member Function Documentation

clone()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::Ptr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::clone ( ) const
pure virtual

Clone and cast to CorrespondenceEstimationBase.

determineCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::determineCorrespondences ( pcl::Correspondences & correspondences,
double max_distance = std::numeric_limits< double >::max()
)
pure virtual

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

Implemented in pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >, pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >.

determineReciprocalCorrespondences()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::determineReciprocalCorrespondences ( pcl::Correspondences & correspondences,
double max_distance = std::numeric_limits< double >::max()
)
pure virtual

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

Implemented in pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >, pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >.

getClassName()

template<typename PointSource , typename PointTarget , typename Scalar = float>
const std::string& pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getClassName ( ) const
inlineprotected

getIndicesSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
const IndicesPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getIndicesSource ( )
inline

Get a pointer to the vector of indices used for the source dataset.

Definition at line 182 of file correspondence_estimation.h.

getIndicesTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>
const IndicesPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getIndicesTarget ( )
inline

Get a pointer to the vector of indices used for the target dataset.

Definition at line 199 of file correspondence_estimation.h.

getInputSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
const PointCloudSourceConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputSource ( )
inline

Get a pointer to the input point cloud dataset target.

Definition at line 121 of file correspondence_estimation.h.

getInputTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>
const PointCloudTargetConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputTarget ( )
inline

Get a pointer to the input point cloud dataset target.

Definition at line 135 of file correspondence_estimation.h.

getSearchMethodSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
KdTreeReciprocalPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodSource ( ) const
inline

Get a pointer to the search method used to find correspondences in the source cloud.

Definition at line 248 of file correspondence_estimation.h.

getSearchMethodTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>
KdTreePtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getSearchMethodTarget ( ) const
inline

Get a pointer to the search method used to find correspondences in the target cloud.

Definition at line 223 of file correspondence_estimation.h.

initCompute()

template<typename PointSource , typename PointTarget , typename Scalar >
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::initCompute
protected

Internal computation initialization.

Definition at line 73 of file correspondence_estimation.hpp.

initComputeReciprocal()

template<typename PointSource , typename PointTarget , typename Scalar >
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::initComputeReciprocal
protected

Internal computation initialization for reciprocal correspondences.

Definition at line 97 of file correspondence_estimation.hpp.

requiresSourceNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::requiresSourceNormals ( ) const
inlinevirtual

See if this rejector requires source normals.

Definition at line 142 of file correspondence_estimation.h.

requiresTargetNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::requiresTargetNormals ( ) const
inlinevirtual

See if this rejector requires target normals.

Definition at line 157 of file correspondence_estimation.h.

setIndicesSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesSource ( const IndicesPtr & indices )
inline

Provide a pointer to the vector of indices that represent the input source point cloud.

Parameters
[in] indices a pointer to the vector of indices

Definition at line 175 of file correspondence_estimation.h.

setIndicesTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setIndicesTarget ( const IndicesPtr & indices )
inline

Provide a pointer to the vector of indices that represent the input target point cloud.

Parameters
[in] indices a pointer to the vector of indices

Definition at line 191 of file correspondence_estimation.h.

setInputSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputSource ( const PointCloudSourceConstPtr & cloud )
inline

Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)

Parameters
[in] cloud the input point cloud source

Definition at line 112 of file correspondence_estimation.h.

setInputTarget()

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputTarget ( const PointCloudTargetConstPtr & cloud )
inline

Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to)

Parameters
[in] cloud the input point cloud target

Definition at line 53 of file correspondence_estimation.hpp.

setPointRepresentation()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation )
inline

Provide a boost shared pointer to the PointRepresentation to be used when searching for nearest neighbors.

Parameters
[in] point_representation the PointRepresentation to be used by the k-D tree for nearest neighbor search

Definition at line 283 of file correspondence_estimation.h.

setSearchMethodSource()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodSource ( const KdTreeReciprocalPtr & tree,
bool force_no_recompute = false
)
inline

Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding).

Parameters
[in] tree a pointer to the spatial search object.
[in] force_no_recompute If set to true, this tree will NEVER be recomputed, regardless of calls to setInputSource. Only use if you are extremely confident that the tree will be set correctly.

Definition at line 236 of file correspondence_estimation.h.

setSearchMethodTarget()

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSearchMethodTarget ( const KdTreePtr & tree,
bool force_no_recompute = false
)
inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters
[in] tree a pointer to the spatial search object.
[in] force_no_recompute If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 212 of file correspondence_estimation.h.

setSourceNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr )
inlinevirtual

setTargetNormals()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr )
inlinevirtual

Abstract method for setting the target normals.

Reimplemented in pcl::registration::CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar >.

Definition at line 163 of file correspondence_estimation.h.

Member Data Documentation

corr_name_

template<typename PointSource , typename PointTarget , typename Scalar = float>
std::string pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::corr_name_
protected

The correspondence estimation method name.

Definition at line 294 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::getClassName().

force_no_recompute_

template<typename PointSource , typename PointTarget , typename Scalar = float>
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_
protected

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

Definition at line 342 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setSearchMethodTarget().

force_no_recompute_reciprocal_

template<typename PointSource , typename PointTarget , typename Scalar = float>
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_reciprocal_
protected

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

Definition at line 346 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setSearchMethodSource().

input_fields_

template<typename PointSource , typename PointTarget , typename Scalar = float>
std::vector<pcl::PCLPointField> pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_fields_
protected

The types of input point fields available.

Definition at line 315 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setInputSource().

input_transformed_

template<typename PointSource , typename PointTarget , typename Scalar = float>
PointCloudTargetPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_transformed_
protected

The transformed input source point cloud dataset.

Definition at line 312 of file correspondence_estimation.h.

point_representation_

template<typename PointSource , typename PointTarget , typename Scalar = float>
PointRepresentationConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_
protected

source_cloud_updated_

template<typename PointSource , typename PointTarget , typename Scalar = float>
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_
protected

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

This way, we avoid rebuilding the reciprocal kd-tree for the source cloud every time the determineCorrespondences () method is called.

Definition at line 339 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setInputSource(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setSearchMethodSource().

target_

template<typename PointSource , typename PointTarget , typename Scalar = float>
PointCloudTargetConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_
protected

target_cloud_updated_

template<typename PointSource , typename PointTarget , typename Scalar = float>
bool pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_
protected

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

This way, we avoid rebuilding the kd-tree for the target cloud every time the determineCorrespondences () method is called.

Definition at line 335 of file correspondence_estimation.h.

Referenced by pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setIndicesTarget(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::setSearchMethodTarget().

target_indices_

template<typename PointSource , typename PointTarget , typename Scalar = float>
IndicesPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_
protected

tree_

template<typename PointSource , typename PointTarget , typename Scalar = float>
KdTreePtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_
protected

tree_reciprocal_

template<typename PointSource , typename PointTarget , typename Scalar = float>
KdTreeReciprocalPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_
protected

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

© 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_base.html