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

#include <correspondence_rejection_sample_consensus_2d.h>

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

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List of all members.

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorSampleConsensus2D >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorSampleConsensus2D >	Ptr
Public Member Functions
	CorrespondenceRejectorSampleConsensus2D ()
	Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000.
void	getCameraCenters (float &cx, float &cy) const
	Reads back 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	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	setCameraCenters (const float cx, const float cy)
	Sets the camera center parameters of the target camera.
void	setFocalLengths (const float fx, const float fy)
	Sets the focal length 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.
Private Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

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

template<typename PointT >

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.

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::PointCloud [private]

Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.

Definition at line 57 of file correspondence_rejection_sample_consensus_2d.h.

template<typename PointT >

typedef PointCloud::ConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::PointCloudConstPtr [private]

Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.

Definition at line 59 of file correspondence_rejection_sample_consensus_2d.h.

template<typename PointT >

typedef PointCloud::Ptr pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::PointCloudPtr [private]

Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.

Definition at line 58 of file correspondence_rejection_sample_consensus_2d.h.

template<typename PointT >

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.

Constructor & Destructor Documentation

template<typename PointT >

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.

Member Function Documentation

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection ( pcl::Correspondences & correspondences ) [inline, protected, virtual]

Apply the rejection algorithm.

Parameters:

[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.

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]	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.

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]	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.

template<typename PointT >

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.

Parameters:

[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.

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]	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.

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]	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.

Member Data Documentation

template<typename PointT >

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

Camera projection matrix.

Definition at line 154 of file correspondence_rejection_sample_consensus_2d.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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