40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
43 #include <pcl/registration/correspondence_types.h>
44 #include <pcl/registration/correspondence_estimation.h>
48 namespace registration
55 template <
typename Po
intSource,
typename Po
intTarget,
typename NormalT,
typename Scalar =
float>
59 typedef boost::shared_ptr<CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> >
Ptr;
60 typedef boost::shared_ptr<const CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> >
ConstPtr;
94 , source_normals_transformed_ ()
98 corr_name_ =
"CorrespondenceEstimationBackProjection";
133 double max_distance = std::numeric_limits<double>::max ());
144 double max_distance = std::numeric_limits<double>::max ());
189 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
virtual void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the reciprocal correspondences between input and target cloud.
pcl::search::KdTree< PointTarget >::Ptr KdTreePtr
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which h...
pcl::PointCloud< PointSource > PointCloudSource
boost::shared_ptr< CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > Ptr
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the correspondences between input and target cloud.
std::string corr_name_
The correspondence estimation method name.
PointCloudSource::ConstPtr PointCloudSourceConstPtr
CorrespondenceEstimationBackProjection()
Empty constructor.
boost::shared_ptr< const CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > ConstPtr
NormalsConstPtr getTargetNormals() const
Get the normals of the target point cloud.
PointCloudNormals::ConstPtr NormalsConstPtr
PointCloudNormals::Ptr NormalsPtr
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
pcl::PointCloud< NormalT > PointCloudNormals
boost::shared_ptr< PointCloud< PointT > > Ptr
boost::shared_ptr< KdTree< PointT > > Ptr
pcl::PointCloud< PointTarget > PointCloudTarget
PointCloudTarget::Ptr PointCloudTargetPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
pcl::search::KdTree< PointTarget > KdTree
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
Abstract CorrespondenceEstimationBase class.
void getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
bool initCompute()
Internal computation initalization.
PointCloudSource::Ptr PointCloudSourcePtr
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
virtual ~CorrespondenceEstimationBackProjection()
Empty destructor.