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