CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud More...

#include <pcl/registration/correspondence_estimation_normal_shooting.h>

Inheritance diagram for pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >:

Collaboration diagram for pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >:

Public Types
using	Ptr = shared_ptr< CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > >

using	ConstPtr = shared_ptr< const CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > >

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	PointCloudNormals = pcl::PointCloud< NormalT >

using	NormalsPtr = typename PointCloudNormals::Ptr

using	NormalsConstPtr = typename PointCloudNormals::ConstPtr

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
	CorrespondenceEstimationNormalShooting ()
	Empty constructor. More...

	~CorrespondenceEstimationNormalShooting () override=default
	Empty destructor. More...

void	setSourceNormals (const NormalsConstPtr &normals)
	Set the normals computed on the source point cloud. More...

NormalsConstPtr	getSourceNormals () const
	Get the normals of the source point cloud. More...

bool	requiresSourceNormals () const override
	See if this rejector requires source normals. More...

void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Blob method for setting the source normals. 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...

void	setKSearch (unsigned int k)
	Set the number of nearest neighbours to be considered in the target point cloud. More...

unsigned int	getKSearch () const
	Get the number of nearest neighbours considered in the target point cloud for computing correspondences. 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	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...

Protected Member Functions
bool	initCompute ()
	Internal computation initialization. More...

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...

Additional Inherited Members
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 NormalT, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >

CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud

Code example:

pcl::PointCloud<pcl::PointNormal>::Ptr source, target;
// ... read or fill in source and target
pcl::CorrespondenceEstimationNormalShooting
  <pcl::PointNormal, pcl::PointNormal, pcl::PointNormal> est;
est.setInputSource (source);
est.setSourceNormals (source);
 
est.setInputTarget (target);
 
// Test the first 10 correspondences for each point in source, and return the best
est.setKSearch (10);
 
pcl::Correspondences all_correspondences;
// Determine all correspondences
est.determineCorrespondences (all_correspondences);

Author: Aravindhan K. Krishnan, Radu B. Rusu

Definition at line 79 of file correspondence_estimation_normal_shooting.h.

Member Typedef Documentation

◆ ConstPtr

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

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

Definition at line 86 of file correspondence_estimation_normal_shooting.h.

◆ NormalsConstPtr

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

using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsConstPtr = typename PointCloudNormals::ConstPtr

Definition at line 127 of file correspondence_estimation_normal_shooting.h.

◆ NormalsPtr

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

using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::NormalsPtr = typename PointCloudNormals::Ptr

Definition at line 126 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudNormals

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

using pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::PointCloudNormals = pcl::PointCloud<NormalT>

Definition at line 125 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudSource

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

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

Definition at line 117 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudSourceConstPtr

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

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

Definition at line 119 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudSourcePtr

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

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

Definition at line 118 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudTarget

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

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

Definition at line 121 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudTargetConstPtr

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

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

Definition at line 123 of file correspondence_estimation_normal_shooting.h.

◆ PointCloudTargetPtr

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

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

Definition at line 122 of file correspondence_estimation_normal_shooting.h.

◆ Ptr

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

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

Definition at line 82 of file correspondence_estimation_normal_shooting.h.

Constructor & Destructor Documentation

◆ CorrespondenceEstimationNormalShooting()

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

pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::CorrespondenceEstimationNormalShooting ( )

inline

Empty constructor.

Note: Sets the number of neighbors to be considered in the target point cloud (k_) to 10.

Definition at line 134 of file correspondence_estimation_normal_shooting.h.

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

◆ ~CorrespondenceEstimationNormalShooting()

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

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

overridedefault

Empty destructor.

Member Function Documentation

◆ clone()

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

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

inlineoverridevirtual

Clone and cast to CorrespondenceEstimationBase.

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

Definition at line 223 of file correspondence_estimation_normal_shooting.h.

◆ determineCorrespondences()

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, 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 distance between the normal on the source point cloud and the corresponding point in the target point cloud

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

Definition at line 68 of file correspondence_estimation_normal_shooting.hpp.

References pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

◆ determineReciprocalCorrespondences()

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, 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 134 of file correspondence_estimation_normal_shooting.hpp.

References pcl::Correspondence::distance, pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

◆ getKSearch()

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

unsigned int pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::getKSearch ( ) const

inline

Get the number of nearest neighbours considered in the target point cloud for computing correspondences.

By default we use k = 10 nearest neighbors.

Definition at line 216 of file correspondence_estimation_normal_shooting.h.

◆ getSourceNormals()

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

NormalsConstPtr pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::getSourceNormals ( ) const

inline

Get the normals of the source point cloud.

Definition at line 155 of file correspondence_estimation_normal_shooting.h.

◆ initCompute()

template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >

bool pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::initCompute

protected

Internal computation initialization.

Definition at line 52 of file correspondence_estimation_normal_shooting.hpp.

◆ requiresSourceNormals()

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

bool pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::requiresSourceNormals ( ) const

inlineoverridevirtual

See if this rejector requires source normals.

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 162 of file correspondence_estimation_normal_shooting.h.

◆ setKSearch()

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

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setKSearch ( unsigned int k )

inline

Set the number of nearest neighbours to be considered in the target point cloud.

By default, we use k = 10 nearest neighbors.

Parameters

[in] k the number of nearest neighbours to be considered

Definition at line 206 of file correspondence_estimation_normal_shooting.h.

◆ setSourceNormals() [1/2]

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

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals ( const NormalsConstPtr & normals )

inline

Set the normals computed on the source point cloud.

Parameters

[in] normals the normals computed for the source cloud

Definition at line 147 of file correspondence_estimation_normal_shooting.h.

Referenced by pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().

◆ setSourceNormals() [2/2]

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

void pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlineoverridevirtual

Blob method for setting the source normals.

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 169 of file correspondence_estimation_normal_shooting.h.

References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >::setSourceNormals().

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

pcl/registration/correspondence_estimation_normal_shooting.h
pcl/registration/impl/correspondence_estimation_normal_shooting.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ NormalsConstPtr

◆ NormalsPtr

◆ PointCloudNormals

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointCloudTargetConstPtr

◆ PointCloudTargetPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceEstimationNormalShooting()

◆ ~CorrespondenceEstimationNormalShooting()

Member Function Documentation

◆ clone()

◆ determineCorrespondences()

◆ determineReciprocalCorrespondences()

◆ getKSearch()

◆ getSourceNormals()

◆ initCompute()

◆ requiresSourceNormals()

◆ setKSearch()

◆ setSourceNormals() [1/2]

◆ setSourceNormals() [2/2]

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