Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > Class Template Referenceabstract

Abstract CorrespondenceEstimationBase class. More...

#include <pcl/registration/correspondence_estimation.h>

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

Public Types

typedef boost::shared_ptr
< CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const
CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef pcl::search::KdTree
< PointTarget > 
KdTree
 
typedef KdTree::Ptr KdTreePtr
 
typedef pcl::search::KdTree
< PointSource > 
KdTreeReciprocal
 
typedef KdTree::Ptr KdTreeReciprocalPtr
 
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef
KdTree::PointRepresentationConstPtr 
PointRepresentationConstPtr
 
- Public Types inherited from pcl::PCLBase< PointSource >
typedef pcl::PointCloud
< PointSource > 
PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 CorrespondenceEstimationBase ()
 Empty constructor. More...
 
virtual ~CorrespondenceEstimationBase ()
 Empty destructor. More...
 
void setInputCloud (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 getInputCloud ()
 Get a pointer to the input point cloud dataset target. 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...
 
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...
 
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 boost::shared_ptr
< CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > > 
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 ()
 Destructor. 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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[] (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 initalization. More...
 
bool initComputeReciprocal ()
 Internal computation initalization 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::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...
 
- 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 63 of file correspondence_estimation.h.

Member Typedef Documentation

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

Definition at line 67 of file correspondence_estimation.h.

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

Definition at line 75 of file correspondence_estimation.h.

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

Definition at line 76 of file correspondence_estimation.h.

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

Definition at line 78 of file correspondence_estimation.h.

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

Definition at line 79 of file correspondence_estimation.h.

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

Definition at line 81 of file correspondence_estimation.h.

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

Definition at line 83 of file correspondence_estimation.h.

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

Definition at line 82 of file correspondence_estimation.h.

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

Definition at line 85 of file correspondence_estimation.h.

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

Definition at line 87 of file correspondence_estimation.h.

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

Definition at line 86 of file correspondence_estimation.h.

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

Definition at line 89 of file correspondence_estimation.h.

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

Definition at line 66 of file correspondence_estimation.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 92 of file correspondence_estimation.h.

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

Empty destructor.

Definition at line 109 of file correspondence_estimation.h.

Member Function Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> > pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::clone ( ) const
pure virtual
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]correspondencesthe found correspondences (index of query point, index of target point, distance)
[in]max_distancemaximum allowed distance between correspondences

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

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

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

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

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

Definition at line 193 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::indices_.

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

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

Definition at line 207 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_.

template<typename PointSource , typename PointTarget , typename Scalar >
pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr const pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::getInputCloud ( )

Get a pointer to the input point cloud dataset target.

Definition at line 55 of file correspondence_estimation.hpp.

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

Get a pointer to the input point cloud dataset target.

Definition at line 140 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::input_.

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

Get a pointer to the input point cloud dataset target.

Definition at line 154 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_.

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 260 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_.

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 232 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_.

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

Internal computation initalization.

Definition at line 81 of file correspondence_estimation.hpp.

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

Internal computation initalization for reciprocal correspondences.

Definition at line 106 of file correspondence_estimation.hpp.

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

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

Definition at line 171 of file correspondence_estimation.h.

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]indicesa pointer to the vector of indices

Definition at line 186 of file correspondence_estimation.h.

References pcl::PCLBase< PointSource >::setIndices().

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]indicesa pointer to the vector of indices

Definition at line 199 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_indices_.

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

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

Parameters
[in]cloudthe input point cloud source

Reimplemented from pcl::PCLBase< PointSource >.

Definition at line 48 of file correspondence_estimation.hpp.

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]cloudthe input point cloud source

Definition at line 131 of file correspondence_estimation.h.

References pcl::getFields(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::input_fields_, pcl::PCLBase< PointT >::setInputCloud(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_.

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]cloudthe input point cloud target

Definition at line 62 of file correspondence_estimation.hpp.

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_representationthe PointRepresentation to be used by the k-D tree for nearest neighbor search

Definition at line 291 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_.

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]treea pointer to the spatial search object.
[in]force_no_recomputeIf 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 245 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_reciprocal_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::source_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_reciprocal_.

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]treea pointer to the spatial search object.
[in]force_no_recomputeIf 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 217 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::force_no_recompute_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_cloud_updated_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::tree_.

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

Member Data Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
std::string pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::corr_name_
protected
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 348 of file correspondence_estimation.h.

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

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 352 of file correspondence_estimation.h.

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

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 324 of file correspondence_estimation.h.

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

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 321 of file correspondence_estimation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
PointRepresentationConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::point_representation_
protected
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 345 of file correspondence_estimation.h.

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

template<typename PointSource, typename PointTarget, typename Scalar = float>
PointCloudTargetConstPtr pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::target_
protected
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 341 of file correspondence_estimation.h.

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

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