Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar > Class Template Reference

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::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 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:

// ... read or fill in source and target
pcl::CorrespondenceEstimationNormalShooting
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);
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
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

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

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