correspondence_estimation_organized_projection.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_
#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_

#include <pcl/registration/correspondence_estimation.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget, typename Scalar = float>
    class CorrespondenceEstimationOrganizedProjection : public CorrespondenceEstimationBase <PointSource, PointTarget, Scalar>
    {
      public:
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initCompute;
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::input_transformed_;
        using PCLBase<PointSource>::deinitCompute;
        using PCLBase<PointSource>::input_;
        using PCLBase<PointSource>::indices_;
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::getClassName;
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::point_representation_;
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_cloud_updated_;

        typedef pcl::PointCloud<PointSource> PointCloudSource;
        typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
        typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

        typedef pcl::PointCloud<PointTarget> PointCloudTarget;
        typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
        typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;

        typedef boost::shared_ptr< CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> > Ptr;
        typedef boost::shared_ptr< const CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> > ConstPtr;



        CorrespondenceEstimationOrganizedProjection ()
          : fx_ (525.f)
          , fy_ (525.f)
          , cx_ (319.5f)
          , cy_ (239.5f)
          , src_to_tgt_transformation_ (Eigen::Matrix4f::Identity ())
          , depth_threshold_ (std::numeric_limits<float>::max ())
          , projection_matrix_ (Eigen::Matrix3f::Identity ())
        { }


        inline void
        setFocalLengths (const float fx, const float fy)
        { fx_ = fx; fy_ = fy; }

        inline void
        getFocalLengths (float &fx, float &fy) const
        { fx = fx_; fy = fy_; }


        inline void
        setCameraCenters (const float cx, const float cy)
        { cx_ = cx; cy_ = cy; }

        inline void
        getCameraCenters (float &cx, float &cy) const
        { cx = cx_; cy = cy_; }

        inline void
        setSourceTransformation (const Eigen::Matrix4f &src_to_tgt_transformation)
        { src_to_tgt_transformation_ = src_to_tgt_transformation; }

        inline Eigen::Matrix4f
        getSourceTransformation () const
        { return (src_to_tgt_transformation_); }

        inline void
        setDepthThreshold (const float depth_threshold)
        { depth_threshold_ = depth_threshold; }

        inline float
        getDepthThreshold () const
        { return (depth_threshold_); }

        void
        determineCorrespondences (Correspondences &correspondences, double max_distance);

        void
        determineReciprocalCorrespondences (Correspondences &correspondences, double max_distance);

      protected:
        using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_;

        bool
        initCompute ();

        float fx_, fy_;
        float cx_, cy_;
        Eigen::Matrix4f src_to_tgt_transformation_;
        float depth_threshold_;

        Eigen::Matrix3f projection_matrix_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/correspondence_estimation_organized_projection.hpp>

#endif /* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_ */