Point Cloud Library (PCL)  1.7.0
correspondence_estimation_backprojection.h
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39 
40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_
42 
43 #include <pcl/registration/correspondence_types.h>
44 #include <pcl/registration/correspondence_estimation.h>
45 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** \brief @b CorrespondenceEstimationBackprojection computes
51  * correspondences as points in the target cloud which have minimum
52  * \author Suat Gedikli
53  * \ingroup registration
54  */
55  template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar = float>
56  class CorrespondenceEstimationBackProjection : public CorrespondenceEstimationBase <PointSource, PointTarget, Scalar>
57  {
58  public:
59  typedef boost::shared_ptr<CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> > Ptr;
60  typedef boost::shared_ptr<const CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> > ConstPtr;
61 
71 
74 
78 
82 
86 
87  /** \brief Empty constructor.
88  *
89  * \note
90  * Sets the number of neighbors to be considered in the target point cloud (k_) to 10.
91  */
93  : source_normals_ ()
94  , source_normals_transformed_ ()
95  , target_normals_ ()
96  , k_ (10)
97  {
98  corr_name_ = "CorrespondenceEstimationBackProjection";
99  }
100 
101  /** \brief Empty destructor */
103 
104  /** \brief Set the normals computed on the source point cloud
105  * \param[in] normals the normals computed for the source cloud
106  */
107  inline void
108  setSourceNormals (const NormalsConstPtr &normals) { source_normals_ = normals; }
109 
110  /** \brief Get the normals of the source point cloud
111  */
112  inline NormalsConstPtr
113  getSourceNormals () const { return (source_normals_); }
114 
115  /** \brief Set the normals computed on the target point cloud
116  * \param[in] normals the normals computed for the target cloud
117  */
118  inline void
119  setTargetNormals (const NormalsConstPtr &normals) { target_normals_ = normals; }
120 
121  /** \brief Get the normals of the target point cloud
122  */
123  inline NormalsConstPtr
124  getTargetNormals () const { return (target_normals_); }
125 
126  /** \brief Determine the correspondences between input and target cloud.
127  * \param[out] correspondences the found correspondences (index of query point, index of target point, distance)
128  * \param[in] max_distance maximum distance between the normal on the source point cloud and the corresponding point in the target
129  * point cloud
130  */
131  void
133  double max_distance = std::numeric_limits<double>::max ());
134 
135  /** \brief Determine the reciprocal correspondences between input and target cloud.
136  * A correspondence is considered reciprocal if both Src_i has Tgt_i as a
137  * correspondence, and Tgt_i has Src_i as one.
138  *
139  * \param[out] correspondences the found correspondences (index of query and target point, distance)
140  * \param[in] max_distance maximum allowed distance between correspondences
141  */
142  virtual void
144  double max_distance = std::numeric_limits<double>::max ());
145 
146  /** \brief Set the number of nearest neighbours to be considered in the target
147  * point cloud. By default, we use k = 10 nearest neighbors.
148  *
149  * \param[in] k the number of nearest neighbours to be considered
150  */
151  inline void
152  setKSearch (unsigned int k) { k_ = k; }
153 
154  /** \brief Get the number of nearest neighbours considered in the target point
155  * cloud for computing correspondences. By default we use k = 10 nearest
156  * neighbors.
157  */
158  inline void
159  getKSearch () const { return (k_); }
160 
161  protected:
162 
167 
168  /** \brief Internal computation initalization. */
169  bool
170  initCompute ();
171 
172  private:
173 
174  /** \brief The normals computed at each point in the source cloud */
175  NormalsConstPtr source_normals_;
176 
177  /** \brief The normals computed at each point in the source cloud */
178  NormalsPtr source_normals_transformed_;
179 
180  /** \brief The normals computed at each point in the target cloud */
181  NormalsConstPtr target_normals_;
182 
183  /** \brief The number of neighbours to be considered in the target point cloud */
184  unsigned int k_;
185  };
186  }
187 }
188 
189 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
190 
191 #endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_H_ */