Point Cloud Library (PCL)
1.7.0
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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>
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. |
CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)
Definition at line 55 of file correspondence_rejection_sample_consensus_2d.h.
typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus2D> pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::ConstPtr |
Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.
Definition at line 73 of file correspondence_rejection_sample_consensus_2d.h.
typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus2D> pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::Ptr |
Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.
Definition at line 72 of file correspondence_rejection_sample_consensus_2d.h.
pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::CorrespondenceRejectorSampleConsensus2D | ( | ) | [inline] |
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_.
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.
Definition at line 148 of file correspondence_rejection_sample_consensus_2d.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejector::input_correspondences_.
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getCameraCenters | ( | float & | cx, |
float & | cy | ||
) | const [inline] |
Reads back the camera center parameters of the target camera.
[out] | cx | the x-coordinate of the camera center |
[out] | cy | the 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_.
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getFocalLengths | ( | float & | fx, |
float & | fy | ||
) | const [inline] |
Reads back the focal length parameters of the target camera.
[out] | fx | the focal length in pixels along the x-axis of the image |
[out] | fy | the 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_.
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences | ( | const pcl::Correspondences & | original_correspondences, |
pcl::Correspondences & | remaining_correspondences | ||
) | [inline, virtual] |
Get a list of valid correspondences after rejection from the original set of correspondences.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.
Definition at line 46 of file correspondence_rejection_sample_consensus_2d.hpp.
References pcl::RandomSampleConsensus< PointT >::computeModel(), pcl::SampleConsensus< PointT >::getInliers(), pcl::SampleConsensus< PointT >::getModelCoefficients(), pcl::SampleConsensus< PointT >::refineModel(), pcl::SampleConsensusModelRegistration< PointT >::setInputTarget(), pcl::SampleConsensus< PointT >::setMaxIterations(), and pcl::SampleConsensusModelRegistration2D< PointT >::setProjectionMatrix().
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection().
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setCameraCenters | ( | const float | cx, |
const float | cy | ||
) | [inline] |
Sets the camera center parameters of the target camera.
[in] | cx | the x-coordinate of the camera center |
[in] | cy | the 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_.
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setFocalLengths | ( | const float | fx, |
const float | fy | ||
) | [inline] |
Sets the focal length parameters of the target camera.
[in] | fx | the focal length in pixels along the x-axis of the image |
[in] | fy | the 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_.
Eigen::Matrix3f pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_ [protected] |
Camera projection matrix.
Definition at line 154 of file correspondence_rejection_sample_consensus_2d.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getCameraCenters(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getFocalLengths(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setCameraCenters(), and pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setFocalLengths().