41 #ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_ 42 #define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_ 44 #include <pcl/registration/correspondence_estimation.h> 48 namespace registration
60 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
81 typedef boost::shared_ptr< CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >
Ptr;
82 typedef boost::shared_ptr< const CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >
ConstPtr;
145 inline Eigen::Matrix4f
182 virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
203 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208 #include <pcl/registration/impl/correspondence_estimation_organized_projection.hpp> void determineCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
Eigen::Matrix3f projection_matrix_
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
void setDepthThreshold(const float depth_threshold)
Sets the depth threshold; after projecting the source points in the image space of the target camera,...
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
boost::shared_ptr< PointCloud< PointSource > > Ptr
PointCloudSource::ConstPtr PointCloudSourceConstPtr
float getDepthThreshold() const
Reads back the depth threshold; after projecting the source points in the image space of the target c...
Eigen::Matrix4f src_to_tgt_transformation_
PointCloudTarget::Ptr PointCloudTargetPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
boost::shared_ptr< CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > Ptr
pcl::PointCloud< PointTarget > PointCloudTarget
void determineReciprocalCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
Eigen::Matrix4f getSourceTransformation() const
Reads back the transformation from the source point cloud to the target point cloud.
PointCloudSource::Ptr PointCloudSourcePtr
virtual boost::shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > clone() const
Clone and cast to CorrespondenceEstimationBase.
CorrespondenceEstimationOrganizedProjection()
Empty constructor that sets all the intrinsic calibration to the default Kinect values.
boost::shared_ptr< const CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > ConstPtr
CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point c...
boost::shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
void setSourceTransformation(const Eigen::Matrix4f &src_to_tgt_transformation)
Sets the transformation from the source point cloud to the target point cloud.
pcl::PointCloud< PointSource > PointCloudSource
Abstract CorrespondenceEstimationBase class.