Point Cloud Library (PCL)
1.11.0
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44 #include <pcl/registration/correspondence_estimation.h>
48 namespace registration
60 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
81 using Ptr = shared_ptr< CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >;
82 using ConstPtr = shared_ptr< const CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >;
145 inline Eigen::Matrix4f
208 #include <pcl/registration/impl/correspondence_estimation_organized_projection.hpp>
CorrespondenceEstimationOrganizedProjection()
Empty constructor that sets all the intrinsic calibration to the default Kinect values.
Defines all the PCL and non-PCL macros used.
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point c...
typename PointCloudSource::Ptr PointCloudSourcePtr
typename 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,...
Abstract CorrespondenceEstimationBase class.
void setSourceTransformation(const Eigen::Matrix4f &src_to_tgt_transformation)
Sets the transformation from the source point cloud to the target point cloud.
void determineCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
Eigen::Matrix3f projection_matrix_
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
void determineReciprocalCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
float getDepthThreshold() const
Reads back the depth threshold; after projecting the source points in the image space of the target c...
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Eigen::Matrix4f src_to_tgt_transformation_
shared_ptr< CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > Ptr
typename PointCloudTarget::Ptr PointCloudTargetPtr
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const
Clone and cast to CorrespondenceEstimationBase.
shared_ptr< PointCloud< PointSource > > Ptr
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
shared_ptr< const PointCloud< PointSource > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
shared_ptr< const CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > ConstPtr
Defines functions, macros and traits for allocating and using memory.
Eigen::Matrix4f getSourceTransformation() const
Reads back the transformation from the source point cloud to the target point cloud.