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CorrespondenceEstimationNearestNeighbor.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
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12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
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19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
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21  // Public License as published by the Free Software Foundation, either //
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24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
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33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONNEARESTNEIGHBOR_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONNEARESTNEIGHBOR_H_
38 
41 
42 namespace nrt
43 {
44  //! Determines point correspondences by looking for nearest neighbors
45  class CorrespondenceEstimationNearestNeighbor : public CorrespondenceEstimationBase
46  {
47  public:
48  //! Create a nearest neighbor correspondence finder
49  /*! @param searchEpsilon accuracy for nearest neighbor searches */
50  CorrespondenceEstimationNearestNeighbor( double searchEpsilon = 0.0 );
51 
52  //! Find the correspondences between a source and target cloud
53  /*! @param source The source cloud
54  @param target The target cloud
55  @return The correspondences between the two clouds */
56  Correspondences findCorrespondence( PointCloud2 const source, PointCloud2 const target );
57 
58  //! Find the correspondences between a source and target cloud
59  /* @tparam Field The specific field (omit SparseField<>) to filter
60 
61  @param source The source cloud
62  @param target The target cloud
63  @return The correspondences between the two clouds */
64  template <class Field>
65  Correspondences findCorrespondence( PointCloud2 const source, PointCloud2 const target );
66 
67  //! Find the reciprocal correspondences between a source and target cloud
68  /*! A reciprocal correspondence in one in which the same pair of points correspond in both
69  the direction source->target and target->source
70 
71  @param source The source cloud
72  @param target The target cloud
73  @return The reciprocal correspondences between the two clouds */
74  Correspondences findReciprocalCorrespondence( PointCloud2 const source, PointCloud2 const target );
75 
76  //! Find the reciprocal correspondences between a source and target cloud
77  /*! A reciprocal correspondence in one in which the same pair of points correspond in both
78  the direction source->target and target->source
79 
80  @tparam Field The specific field (omit SparseField<>) to filter
81 
82  @param source The source cloud
83  @param target The target cloud
84  @return The reciprocal correspondences between the two clouds */
85  template <class Field>
86  Correspondences findReciprocalCorrespondence( PointCloud2 const source, PointCloud2 const target );
87 
88  protected:
89  //! Rebuilds the search if the input cloud is different from the one the search was based on
90  void rebuildSearch( PointCloud2 const cloud );
91 
92  private:
93  double itsSearchEpsilon;
94  PointCloud2 itsSearchCloud;
95  Search itsSearch;
96  };
97 } // namespace nrt
98 
100 
101 #endif // NRT_POINTCLOUD2_REGISTRATION_CORRESPONDENCE_CORRESPONDENCEESTIMATIONNEARESTNEIGHBOR_H_
102 #endif // NRT_HAVE_CLOUD