Point Cloud Library (PCL)
1.10.0
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43 #include <pcl/registration/correspondence_types.h>
44 #include <pcl/registration/correspondence_estimation.h>
48 namespace registration
76 template <
typename Po
intSource,
typename Po
intTarget,
typename NormalT,
typename Scalar =
float>
115 , source_normals_transformed_ ()
118 corr_name_ =
"CorrespondenceEstimationNormalShooting";
157 double max_distance = std::numeric_limits<double>::max ())
override;
168 double max_distance = std::numeric_limits<double>::max ())
override;
218 #include <pcl/registration/impl/correspondence_estimation_normal_shooting.hpp>
This file defines compatibility wrappers for low level I/O functions.
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the correspondences between input and target cloud.
CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which h...
unsigned int getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the reciprocal correspondences between input and target cloud.
CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const override
Clone and cast to CorrespondenceEstimationBase.
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
CorrespondenceEstimationNormalShooting()
Empty constructor.
typename PointCloudTarget::Ptr PointCloudTargetPtr
Abstract CorrespondenceEstimationBase class.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
shared_ptr< KdTree< PointT, Tree > > Ptr
typename PointCloudNormals::ConstPtr NormalsConstPtr
typename PointCloudSource::Ptr PointCloudSourcePtr
typename PointCloudNormals::Ptr NormalsPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > ConstPtr
bool initCompute()
Internal computation initialization.
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
bool requiresSourceNormals() const override
See if this rejector requires source normals.
~CorrespondenceEstimationNormalShooting()
Empty destructor.
std::string corr_name_
The correspondence estimation method name.
typename KdTree::Ptr KdTreePtr
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source normals.
shared_ptr< PointCloud< PointSource > > Ptr
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
shared_ptr< const PointCloud< PointSource > > ConstPtr
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.