Point Cloud Library (PCL) 1.15.0
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pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar > Class Template Reference
Module registration

CorrespondenceEstimation represents a simple class for determining correspondences between target and query point sets/features, using nearest neighbor search. More...

#include <pcl/registration/correspondence_estimation.h>

Inheritance diagram for pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >:
Collaboration diagram for pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >:

Public Types

using Ptr = shared_ptr<CorrespondenceEstimation<PointSource, PointTarget, Scalar>>
using ConstPtr
using KdTree
using KdTreePtr
using KdTreeConstPtr
using KdTreeReciprocal
using KdTreeReciprocalPtr
using KdTreeReciprocalConstPtr
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
Public Types inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
using Ptr
using ConstPtr
using KdTree
using KdTreePtr
using KdTreeConstPtr
using KdTreeReciprocal
using KdTreeReciprocalPtr
using KdTreeReciprocalConstPtr
using PointCloudSource
using PointCloudSourcePtr
using PointCloudSourceConstPtr
using PointCloudTarget
using PointCloudTargetPtr
using PointCloudTargetConstPtr
using PointRepresentationConstPtr
using PointRepresentationReciprocalConstPtr
Public Types inherited from pcl::PCLBase< PointSource >
using PointCloud
using PointCloudPtr
using PointCloudConstPtr
using PointIndicesPtr
using PointIndicesConstPtr

Public Member Functions

 CorrespondenceEstimation ()
 Empty constructor.
 ~CorrespondenceEstimation () override=default
 Empty destructor.
void determineCorrespondences (pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
 Determine the correspondences between input and target cloud.
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.
Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
 CorrespondenceEstimationBase ()
 Empty constructor.
 ~CorrespondenceEstimationBase () override=default
 Empty destructor.
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)
PointCloudSourceConstPtr const getInputSource ()
 Get a pointer to the input point cloud dataset target.
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)
PointCloudTargetConstPtr const getInputTarget ()
 Get a pointer to the input point cloud dataset target.
void setNumberOfThreads (unsigned int nr_threads)
 Set the number of threads to use.
virtual bool requiresSourceNormals () const
 See if this rejector requires source normals.
virtual void setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source normals.
virtual bool requiresTargetNormals () const
 See if this rejector requires target normals.
virtual void setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target normals.
void setIndicesSource (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represent the input source point cloud.
IndicesPtr const getIndicesSource ()
 Get a pointer to the vector of indices used for the source dataset.
void setIndicesTarget (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represent the input target point cloud.
IndicesPtr const getIndicesTarget ()
 Get a pointer to the vector of indices used for the target dataset.
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.
KdTreePtr getSearchMethodTarget () const
 Get a pointer to the search method used to find correspondences in the target cloud.
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).
KdTreeReciprocalPtr getSearchMethodSource () const
 Get a pointer to the search method used to find correspondences in the source cloud.
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.
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.
Public Member Functions inherited from pcl::PCLBase< PointSource >
 PCLBase ()
 Empty constructor.
virtual ~PCLBase ()=default
 Destructor.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset.
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used.
const PointSource & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code.

Additional Inherited Members

Protected Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
const std::string & getClassName () const
 Abstract class get name method.
bool initCompute ()
 Internal computation initialization.
bool initComputeReciprocal ()
 Internal computation initialization for reciprocal correspondences.
Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool initCompute ()
 This method should get called before starting the actual computation.
bool deinitCompute ()
 This method should get called after finishing the actual computation.
Protected Attributes inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
std::string corr_name_
 The correspondence estimation method name.
KdTreePtr tree_
 A pointer to the spatial search object used for the target dataset.
KdTreeReciprocalPtr tree_reciprocal_
 A pointer to the spatial search object used for the source dataset.
PointCloudTargetConstPtr target_
 The input point cloud dataset target.
IndicesPtr target_indices_
 The target point cloud dataset indices.
PointRepresentationConstPtr point_representation_
 The target point representation used (internal).
PointRepresentationReciprocalConstPtr point_representation_reciprocal_
 The source point representation used (internal).
PointCloudTargetPtr input_transformed_
 The transformed input source point cloud dataset.
std::vector< pcl::PCLPointField > input_fields_
 The types of input point fields available.
bool target_cloud_updated_
 Variable that stores whether we have a new target cloud, meaning we need to pre-process it again.
bool source_cloud_updated_
 Variable that stores whether we have a new source cloud, meaning we need to pre-process it again.
bool force_no_recompute_
 A flag which, if set, means the tree operating on the target cloud will never be recomputed.
bool force_no_recompute_reciprocal_
 A flag which, if set, means the tree operating on the source cloud will never be recomputed.
unsigned int num_threads_
Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr input_
 The input point cloud dataset.
IndicesPtr indices_
 A pointer to the vector of point indices to use.
bool use_indices_
 Set to true if point indices are used.
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >

CorrespondenceEstimation represents a simple class for determining correspondences between target and query point sets/features, using nearest neighbor search.

Code example:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr source, target;
// ... read or fill in source and target
pcl::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ> est;
est.setInputSource (source);
est.setInputTarget (target);
pcl::Correspondences all_correspondences;
// Determine all reciprocal correspondences
est.determineReciprocalCorrespondences (all_correspondences);
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
Author
Radu B. Rusu, Michael Dixon, Dirk Holz

Definition at line 408 of file correspondence_estimation.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::ConstPtr
Initial value:
shared_ptr<const CorrespondenceEstimation<PointSource, PointTarget, Scalar>>

Definition at line 412 of file correspondence_estimation.h.

◆ KdTree

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTree
Initial value:
typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::KdTree

Definition at line 434 of file correspondence_estimation.h.

◆ KdTreeConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeConstPtr
Initial value:
typename CorrespondenceEstimationBase<PointSource,
PointTarget,
Scalar>::KdTreeConstPtr
pcl::registration::CorrespondenceEstimation::KdTreeConstPtr
typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreeConstPtr KdTreeConstPtr
Definition correspondence_estimation.h:439

Definition at line 439 of file correspondence_estimation.h.

◆ KdTreePtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreePtr
Initial value:
typename CorrespondenceEstimationBase<PointSource,
PointTarget,
Scalar>::KdTreePtr
pcl::registration::CorrespondenceEstimation::KdTreePtr
typename CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::KdTreePtr KdTreePtr
Definition correspondence_estimation.h:436

Definition at line 436 of file correspondence_estimation.h.

◆ KdTreeReciprocal

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocal
Initial value:
typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
KdTreeReciprocal

Definition at line 442 of file correspondence_estimation.h.

◆ KdTreeReciprocalConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocalConstPtr
Initial value:
typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
KdTreeReciprocalConstPtr

Definition at line 449 of file correspondence_estimation.h.

◆ KdTreeReciprocalPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr
Initial value:
typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
KdTreeReciprocalPtr

Definition at line 445 of file correspondence_estimation.h.

◆ PointCloudSource

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource>

Definition at line 453 of file correspondence_estimation.h.

◆ PointCloudSourceConstPtr

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

Definition at line 455 of file correspondence_estimation.h.

◆ PointCloudSourcePtr

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

Definition at line 454 of file correspondence_estimation.h.

◆ PointCloudTarget

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget>

Definition at line 457 of file correspondence_estimation.h.

◆ PointCloudTargetConstPtr

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

Definition at line 459 of file correspondence_estimation.h.

◆ PointCloudTargetPtr

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

Definition at line 458 of file correspondence_estimation.h.

◆ PointRepresentationConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

Definition at line 461 of file correspondence_estimation.h.

◆ PointRepresentationReciprocalConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::PointRepresentationReciprocalConstPtr
Initial value:
typename KdTreeReciprocal::PointRepresentationConstPtr

Definition at line 462 of file correspondence_estimation.h.

◆ Ptr

template<typename PointSource, typename PointTarget, typename Scalar = float>
using pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<CorrespondenceEstimation<PointSource, PointTarget, Scalar>>

Definition at line 411 of file correspondence_estimation.h.

Constructor & Destructor Documentation

◆ CorrespondenceEstimation()

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

Empty constructor.

Definition at line 466 of file correspondence_estimation.h.

References pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::corr_name_.

Referenced by clone().

◆ ~CorrespondenceEstimation()

template<typename PointSource, typename PointTarget, typename Scalar = float>
pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::~CorrespondenceEstimation ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ clone()

template<typename PointSource, typename PointTarget, typename Scalar = float>
CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::clone ( ) const
inlineoverridevirtual

Clone and cast to CorrespondenceEstimationBase.

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 496 of file correspondence_estimation.h.

References CorrespondenceEstimation().

◆ determineCorrespondences()

template<typename PointSource, typename PointTarget, typename Scalar>
void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, 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 allowed distance between correspondences

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >.

Definition at line 147 of file correspondence_estimation.hpp.

References pcl::PCLBase< PointSource >::deinitCompute(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, pcl::PCLBase< PointSource >::indices_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::initCompute(), pcl::PCLBase< PointSource >::input_, pcl::isXYZFinite(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::num_threads_, pcl::registration::detail::pointCopyOrRef(), and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::tree_.

◆ determineReciprocalCorrespondences()

template<typename PointSource, typename PointTarget, typename Scalar>
void pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, 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 222 of file correspondence_estimation.hpp.

References pcl::PCLBase< PointSource >::deinitCompute(), pcl::Correspondence::distance, pcl::Correspondence::index_match, pcl::Correspondence::index_query, pcl::PCLBase< PointSource >::indices_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::initCompute(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::initComputeReciprocal(), pcl::PCLBase< PointSource >::input_, pcl::isXYZFinite(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::num_threads_, pcl::registration::detail::pointCopyOrRef(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::target_, pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::tree_, and pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >::tree_reciprocal_.

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