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
193 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
198 #include <pcl/registration/impl/correspondence_estimation_organized_projection.hpp>
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Eigen::Matrix4f src_to_tgt_transformation_
Abstract CorrespondenceEstimationBase class.
Eigen::Matrix4f getSourceTransformation() const
Reads back the transformation from the source point cloud to the target point cloud.
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
pcl::PointCloud< PointSource > PointCloudSource
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
boost::shared_ptr< const CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > ConstPtr
void setSourceTransformation(const Eigen::Matrix4f &src_to_tgt_transformation)
Sets the transformation from the source point cloud to the target point cloud.
PointCloudSource::ConstPtr PointCloudSourceConstPtr
void determineCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point c...
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
Eigen::Matrix3f projection_matrix_
PointCloudSource::Ptr PointCloudSourcePtr
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...
CorrespondenceEstimationOrganizedProjection()
Empty constructor that sets all the intrinsic calibration to the default Kinect values.
pcl::PointCloud< PointTarget > PointCloudTarget
void setDepthThreshold(const float depth_threshold)
Sets the depth threshold; after projecting the source points in the image space of the target camera...
PointCloudTarget::Ptr PointCloudTargetPtr
boost::shared_ptr< PointCloud< PointSource > > Ptr
boost::shared_ptr< CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > > Ptr
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
PointCloudTarget::ConstPtr PointCloudTargetConstPtr