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PCL's registration API has methods to set the search method for source and target points. However, the only supported method appears to be a kd tree. Since I have organized point clouds, I would like to employ PCL's OrganizedNeighbor search method in the correspondence estimation.

As far as I can tell, the registration classes use from the search method, or the CorrespondenceEstimation containing it these functions

  • nearestKSearch() -> available for all search methods
  • setInputCloud() -> available for all search methods
  • setPointRepresentation() -> only kd Trees have this, for converting points do k-dimensional vectors

So only the point representation stuff seems to be specific to kd trees. When looking at implementing a custom CorrespondenceEstimation subclass, it appears to not be supported to use other search methods.

Is there a way to accomplish this?

oarfish
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  • You may want to use the `point-cloud-library` tag, as HP's Page Control Language (PCL) doesn't have registrations or neighbors. – Thomas Matthews Feb 28 '23 at 18:09

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