41#include <pcl/registration/correspondence_rejection_sample_consensus.h>
45namespace registration {
52template <
typename Po
intT>
70 using Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus2D<PointT>>;
71 using ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus2D<PointT>>;
159#include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
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.
shared_ptr< CorrespondenceRejectorSampleConsensus2D< PointT > > Ptr
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
shared_ptr< const CorrespondenceRejectorSampleConsensus2D< PointT > > ConstPtr
CorrespondenceRejectorSampleConsensus2D()
Empty constructor.
Eigen::Matrix3f projection_matrix_
Camera projection matrix.
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...
Eigen::Matrix4f best_transformation_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
PointCloudConstPtr input_
PointCloudConstPtr target_
const std::string & getClassName() const
Get a string representation of the name of this class.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
A point structure representing Euclidean xyz coordinates, and the RGB color.