42 #include <pcl/registration/correspondence_estimation.h>
43 #include <pcl/registration/correspondence_types.h>
46 namespace registration {
52 template <
typename PointSource,
55 typename Scalar =
float>
70 initComputeReciprocal;
78 point_representation_;
102 : source_normals_(), source_normals_transformed_(), target_normals_()
104 corr_name_ =
"CorrespondenceEstimationBackProjection";
116 source_normals_ = normals;
124 return (source_normals_);
133 target_normals_ = normals;
141 return (target_normals_);
184 double max_distance = std::numeric_limits<double>::max());
197 double max_distance = std::numeric_limits<double>::max());
258 #include <pcl/registration/impl/correspondence_estimation_backprojection.hpp>
A point structure representing normal coordinates and the surface curvature estimate.
shared_ptr< KdTree< PointT, Tree > > Ptr
void setSourceNormals(const NormalsConstPtr &normals)
Set the normals computed on the source point cloud.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
CorrespondenceEstimationBackProjection()
Empty constructor.
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const
Clone and cast to CorrespondenceEstimationBase.
CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which h...
shared_ptr< PointCloud< PointSource > > Ptr
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
std::string corr_name_
The correspondence estimation method name.
typename KdTree::Ptr KdTreePtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
unsigned int getKSearch() const
Get the number of nearest neighbours considered in the target point cloud for computing correspondenc...
virtual ~CorrespondenceEstimationBackProjection()=default
Empty destructor.
typename PointCloudNormals::ConstPtr NormalsConstPtr
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.
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >> Ptr
NormalsConstPtr getSourceNormals() const
Get the normals of the source point cloud.
typename PointCloudSource::Ptr PointCloudSourcePtr
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target normals.
typename PointCloudNormals::Ptr NormalsPtr
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud object using a field_map...
shared_ptr< const PointCloud< PointSource > > ConstPtr
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.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
virtual void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max())
Determine the reciprocal correspondences between input and target cloud.
bool requiresTargetNormals() const
See if this rejector requires target normals.
bool requiresSourceNormals() const
See if this rejector requires source normals.
shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >> ConstPtr
bool initCompute()
Internal computation initialization.
typename PointCloudTarget::Ptr PointCloudTargetPtr
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source normals.
Abstract CorrespondenceEstimationBase class.