Point Cloud Library (PCL)  1.11.0
correspondence_rejection_sample_consensus_2d.h
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38 
39 #pragma once
40 
41 #include <pcl/memory.h>
42 #include <pcl/pcl_macros.h>
43 #include <pcl/registration/correspondence_rejection_sample_consensus.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief CorrespondenceRejectorSampleConsensus2D implements a pixel-based
50  * correspondence rejection using Random Sample Consensus to identify inliers
51  * (and reject outliers)
52  * \author Radu B. Rusu
53  * \ingroup registration
54  */
55  template <typename PointT>
57  {
59  using PointCloudPtr = typename PointCloud::Ptr;
60  using PointCloudConstPtr = typename PointCloud::ConstPtr;
61 
62  public:
72 
73  using Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus2D<PointT> >;
74  using ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus2D<PointT> >;
75 
76  /** \brief Empty constructor. Sets the inlier threshold to 5cm (0.05m),
77  * and the maximum number of iterations to 1000.
78  */
80  : projection_matrix_ (Eigen::Matrix3f::Identity ())
81  {
82  rejection_name_ = "CorrespondenceRejectorSampleConsensus2D";
83  // Put the projection matrix together
84  //projection_matrix_ (0, 0) = 525.f;
85  //projection_matrix_ (1, 1) = 525.f;
86  //projection_matrix_ (0, 2) = 320.f;
87  //projection_matrix_ (1, 2) = 240.f;
88  }
89 
90  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
91  * \param[in] original_correspondences the set of initial correspondences given
92  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
93  */
94  inline void
95  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
96  pcl::Correspondences& remaining_correspondences);
97 
98  /** \brief Sets the focal length parameters of the target camera.
99  * \param[in] fx the focal length in pixels along the x-axis of the image
100  * \param[in] fy the focal length in pixels along the y-axis of the image
101  */
102  inline void
103  setFocalLengths (const float fx, const float fy)
104  {
105  projection_matrix_ (0, 0) = fx;
106  projection_matrix_ (1, 1) = fy;
107  }
108 
109  /** \brief Reads back the focal length parameters of the target camera.
110  * \param[out] fx the focal length in pixels along the x-axis of the image
111  * \param[out] fy the focal length in pixels along the y-axis of the image
112  */
113  inline void
114  getFocalLengths (float &fx, float &fy) const
115  {
116  fx = projection_matrix_ (0, 0);
117  fy = projection_matrix_ (1, 1);
118  }
119 
120 
121  /** \brief Sets the camera center parameters of the target camera.
122  * \param[in] cx the x-coordinate of the camera center
123  * \param[in] cy the y-coordinate of the camera center
124  */
125  inline void
126  setCameraCenters (const float cx, const float cy)
127  {
128  projection_matrix_ (0, 2) = cx;
129  projection_matrix_ (1, 2) = cy;
130  }
131 
132  /** \brief Reads back the camera center parameters of the target camera.
133  * \param[out] cx the x-coordinate of the camera center
134  * \param[out] cy the y-coordinate of the camera center
135  */
136  inline void
137  getCameraCenters (float &cx, float &cy) const
138  {
139  cx = projection_matrix_ (0, 2);
140  cy = projection_matrix_ (1, 2);
141  }
142 
143  protected:
144 
145  /** \brief Apply the rejection algorithm.
146  * \param[out] correspondences the set of resultant correspondences.
147  */
148  inline void
150  {
152  }
153 
154  /** \brief Camera projection matrix. */
155  Eigen::Matrix3f projection_matrix_;
156 
157  public:
159  };
160  }
161 }
162 
163 #include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:180
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
shared_ptr< const CorrespondenceRejector > ConstPtr
shared_ptr< CorrespondenceRejector > Ptr
CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Rando...
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
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.
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Definition: bfgs.h:10
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Defines all the PCL and non-PCL macros used.