39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_ 40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_ 42 #include <pcl/registration/correspondence_rejection_sample_consensus.h> 46 namespace registration
54 template <
typename Po
intT>
72 typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus2D>
Ptr;
73 typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus2D>
ConstPtr;
157 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
162 #include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp> 164 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_ boost::shared_ptr< CorrespondenceRejectorSampleConsensus2D > Ptr
boost::shared_ptr< const CorrespondenceRejectorSampleConsensus2D > ConstPtr
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
boost::shared_ptr< PointCloud< PointT > > Ptr
Eigen::Matrix3f projection_matrix_
Camera projection matrix.
CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Rando...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
Get a list of valid correspondences after rejection from the original set of correspondences.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
CorrespondenceRejectorSampleConsensus2D()
Empty constructor.