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nrt::CorrespondenceEstimationNearestNeighbor Class Reference

#include <nrt/PointCloud2/Registration/Correspondence/CorrespondenceEstimationNearestNeighbor.H>

Determines point correspondences by looking for nearest neighbors.

Examples:
tests/test-PointCloud2OpenNI.C, and tests/test-PointCloud2Registration.C.

Definition at line 45 of file CorrespondenceEstimationNearestNeighbor.H.

Inherits nrt::CorrespondenceEstimationBase.

Public Member Functions

 CorrespondenceEstimationNearestNeighbor (double searchEpsilon=0.0)
 Create a nearest neighbor correspondence finder. More...
 
Correspondences findCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the correspondences between a source and target cloud. More...
 
template<class Field >
Correspondences findCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the correspondences between a source and target cloud.
 
Correspondences findReciprocalCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the reciprocal correspondences between a source and target cloud. More...
 
template<class Field >
Correspondences findReciprocalCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the reciprocal correspondences between a source and target cloud. More...
 
- Public Member Functions inherited from nrt::CorrespondenceEstimationBase
virtual ~CorrespondenceEstimationBase ()
 Virtual destruction.
 
virtual Correspondences findCorrespondence (PointCloud2 const source, PointCloud2 const target)=0
 Find the correspondences between a source and target cloud. More...
 
template<class Field >
Correspondences findCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the correspondences between a source and target cloud. More...
 
virtual Correspondences findReciprocalCorrespondence (PointCloud2 const source, PointCloud2 const target)=0
 Find the reciprocal correspondences between a source and target cloud. More...
 
template<class Field >
Correspondences findReciprocalCorrespondence (PointCloud2 const source, PointCloud2 const target)
 Find the reciprocal correspondences between a source and target cloud. More...
 

Protected Member Functions

void rebuildSearch (PointCloud2 const cloud)
 Rebuilds the search if the input cloud is different from the one the search was based on.
 

Additional Inherited Members

- Public Types inherited from nrt::CorrespondenceEstimationBase
typedef std::shared_ptr
< CorrespondenceEstimationBase > 
SharedPtr
 Convenience tyepdef for shared ptr to this.
 

Constructor & Destructor Documentation

nrt::CorrespondenceEstimationNearestNeighbor::CorrespondenceEstimationNearestNeighbor ( double  searchEpsilon = 0.0)

Create a nearest neighbor correspondence finder.

Parameters
searchEpsilonaccuracy for nearest neighbor searches

Member Function Documentation

auto nrt::CorrespondenceEstimationNearestNeighbor::findCorrespondence ( PointCloud2 const  source,
PointCloud2 const  target 
)
inline

Find the correspondences between a source and target cloud.

Parameters
sourceThe source cloud
targetThe target cloud
Returns
The correspondences between the two clouds

Definition at line 39 of file CorrespondenceEstimationNearestNeighborImpl.H.

auto nrt::CorrespondenceEstimationNearestNeighbor::findReciprocalCorrespondence ( PointCloud2 const  source,
PointCloud2 const  target 
)
inline

Find the reciprocal correspondences between a source and target cloud.

A reciprocal correspondence in one in which the same pair of points correspond in both the direction source->target and target->source

Parameters
sourceThe source cloud
targetThe target cloud
Returns
The reciprocal correspondences between the two clouds

Definition at line 59 of file CorrespondenceEstimationNearestNeighborImpl.H.

References nrt::Search::knn().

template<class Field >
Correspondences nrt::CorrespondenceEstimationNearestNeighbor::findReciprocalCorrespondence ( PointCloud2 const  source,
PointCloud2 const  target 
)

Find the reciprocal correspondences between a source and target cloud.

A reciprocal correspondence in one in which the same pair of points correspond in both the direction source->target and target->source

Template Parameters
FieldThe specific field (omit SparseField<>) to filter
Parameters
sourceThe source cloud
targetThe target cloud
Returns
The reciprocal correspondences between the two clouds

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