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>
bool initCompute()
Internal computation initalization.
boost::shared_ptr< KdTree< PointT > > Ptr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Abstract CorrespondenceEstimationBase class.
pcl::PointCloud< NormalT > PointCloudNormals
std::string corr_name_
The correspondence estimation method name.
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
pcl::PointCloud< PointTarget > PointCloudTarget
void setKSearch(unsigned int k)
Set the number of nearest neighbours to be considered in the target point cloud.
boost::shared_ptr< PointCloud< PointT > > Ptr
pcl::search::KdTree< PointTarget >::Ptr KdTreePtr
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which h...
pcl::PointCloud< PointSource > PointCloudSource
PointCloudTarget::Ptr PointCloudTargetPtr
PointCloudSource::ConstPtr PointCloudSourceConstPtr
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
virtual ~CorrespondenceEstimationBackProjection()
Empty destructor.
PointCloudNormals::ConstPtr NormalsConstPtr
boost::shared_ptr< CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > Ptr
PointCloudSource::Ptr PointCloudSourcePtr
CorrespondenceEstimationBackProjection()
Empty constructor.
boost::shared_ptr< const CorrespondenceEstimationBackProjection< PointSource, PointTarget, NormalT, Scalar > > ConstPtr
NormalsConstPtr getTargetNormals() const
Get the normals of the target point cloud.
virtual void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the reciprocal correspondences between input and target cloud.
PointCloudNormals::Ptr NormalsPtr
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the correspondences between input and target cloud.
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
pcl::search::KdTree< PointTarget > KdTree
void getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...