Point Cloud Library (PCL)  1.14.1-dev
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pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar > Class Template Reference

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>

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

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::PCLPointFieldinput_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:

// ... 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);
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
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

◆ ~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

◆ 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]correspondencesthe found correspondences (index of query point, index of target point, distance)
[in]max_distancemaximum 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().

◆ 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]correspondencesthe found correspondences (index of query and target point, distance)
[in]max_distancemaximum 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: