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> void determineCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
shared_ptr< PointCloud< PointSource > > Ptr
Defines functions, macros and traits for allocating and using memory.
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
Eigen::Matrix3f projection_matrix_
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
void setDepthThreshold(const float depth_threshold)
Sets the depth threshold; after projecting the source points in the image space of the target camera...
shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > ConstPtr
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
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_
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.
typename PointCloudSource::Ptr PointCloudSourcePtr
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
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.
virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr clone() const
Clone and cast to CorrespondenceEstimationBase.
shared_ptr< const PointCloud< PointSource > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceEstimationOrganizedProjection()
Empty constructor that sets all the intrinsic calibration to the default Kinect values.
typename PointCloudTarget::Ptr PointCloudTargetPtr
Defines all the PCL and non-PCL macros used.
CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point c...
void setSourceTransformation(const Eigen::Matrix4f &src_to_tgt_transformation)
Sets the transformation from the source point cloud to the target point cloud.
Abstract CorrespondenceEstimationBase class.