Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT > Class Template Reference

CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...

#include <pcl/registration/correspondence_rejection_sample_consensus_2d.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >:

List of all members.

Public Types

typedef boost::shared_ptr
< CorrespondenceRejectorSampleConsensus2D
Ptr
typedef boost::shared_ptr
< const
CorrespondenceRejectorSampleConsensus2D
ConstPtr

Public Member Functions

 CorrespondenceRejectorSampleConsensus2D ()
 Empty constructor.
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 getFocalLengths (float &fx, float &fy) const
 Reads back 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 getCameraCenters (float &cx, float &cy) const
 Reads back the camera center parameters of the target camera.

Protected Member Functions

void applyRejection (pcl::Correspondences &correspondences)
 Apply the rejection algorithm.

Protected Attributes

Eigen::Matrix3f projection_matrix_
 Camera projection matrix.

Detailed Description

template<typename PointT>
class pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >

CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)

Author:
Radu B. Rusu

Definition at line 55 of file correspondence_rejection_sample_consensus_2d.h.


Member Typedef Documentation


Constructor & Destructor Documentation

Empty constructor.

Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000.

Definition at line 78 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejector::rejection_name_.


Member Function Documentation

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection ( pcl::Correspondences correspondences) [inline, protected, virtual]
template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getCameraCenters ( float &  cx,
float &  cy 
) const [inline]

Reads back the camera center parameters of the target camera.

Parameters:
[out]cxthe x-coordinate of the camera center
[out]cythe y-coordinate of the camera center

Definition at line 136 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getFocalLengths ( float &  fx,
float &  fy 
) const [inline]

Reads back the focal length parameters of the target camera.

Parameters:
[out]fxthe focal length in pixels along the x-axis of the image
[out]fythe focal length in pixels along the y-axis of the image

Definition at line 113 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
) [inline, virtual]
template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setCameraCenters ( const float  cx,
const float  cy 
) [inline]

Sets the camera center parameters of the target camera.

Parameters:
[in]cxthe x-coordinate of the camera center
[in]cythe y-coordinate of the camera center

Definition at line 125 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setFocalLengths ( const float  fx,
const float  fy 
) [inline]

Sets the focal length parameters of the target camera.

Parameters:
[in]fxthe focal length in pixels along the x-axis of the image
[in]fythe focal length in pixels along the y-axis of the image

Definition at line 102 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.


Member Data Documentation

template<typename PointT >
Eigen::Matrix3f pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_ [protected]

The documentation for this class was generated from the following files: