CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point cloud onto the target point cloud using the camera intrinsic and extrinsic parameters. The correspondences can be trimmed by a depth threshold and by a distance threshold. It is not as precise as a nearest neighbor search, but it is much faster, as it avoids the usage of any additional structures (i.e., kd-trees). More...

#include <correspondence_estimation_organized_projection.h>

Inheritance diagram for pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const CorrespondenceEstimationOrganizedProjection < PointSource, PointTarget, Scalar > >	ConstPtr
typedef pcl::PointCloud < PointSource >	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef pcl::PointCloud < PointTarget >	PointCloudTarget
typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr
typedef PointCloudTarget::Ptr	PointCloudTargetPtr
typedef boost::shared_ptr < CorrespondenceEstimationOrganizedProjection < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
	CorrespondenceEstimationOrganizedProjection ()
	Empty constructor that sets all the intrinsic calibration to the default Kinect values.
void	determineCorrespondences (Correspondences &correspondences, double max_distance)
	Computes the correspondences, applying a maximum Euclidean distance threshold.
void	determineReciprocalCorrespondences (Correspondences &correspondences, double max_distance)
	Computes the correspondences, applying a maximum Euclidean distance threshold.
void	getCameraCenters (float &cx, float &cy) const
	Reads back the camera center parameters of the target camera.
float	getDepthThreshold () const
	Reads back the depth threshold; after projecting the source points in the image space of the target camera, this threshold is applied on the depths of corresponding dexels to eliminate the ones that are too far from each other.
void	getFocalLengths (float &fx, float &fy) const
	Reads back the focal length parameters of the target camera.
Eigen::Matrix4f	getSourceTransformation () const
	Reads back the transformation from the source point cloud to the target point cloud.
void	setCameraCenters (const float cx, const float cy)
	Sets the camera center parameters of the target camera.
void	setDepthThreshold (const float depth_threshold)
	Sets the depth threshold; after projecting the source points in the image space of the target camera, this threshold is applied on the depths of corresponding dexels to eliminate the ones that are too far from each other.
void	setFocalLengths (const float fx, const float fy)
	Sets the focal length parameters of the target camera.
void	setSourceTransformation (const Eigen::Matrix4f &src_to_tgt_transformation)
	Sets the transformation from the source point cloud to the target point cloud.
Protected Member Functions
bool	initCompute ()
	Internal computation initalization.
Protected Attributes
float	cx_
float	cy_
float	depth_threshold_
float	fx_
float	fy_
Eigen::Matrix3f	projection_matrix_
Eigen::Matrix4f	src_to_tgt_transformation_

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >

CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point cloud onto the target point cloud using the camera intrinsic and extrinsic parameters. The correspondences can be trimmed by a depth threshold and by a distance threshold. It is not as precise as a nearest neighbor search, but it is much faster, as it avoids the usage of any additional structures (i.e., kd-trees).

Note:: The target point cloud must be organized (no restrictions on the source) and the target point cloud must be given in the camera coordinate frame. Any other transformation is specified by the src_to_tgt_transformation_ variable.

Author:: Alex Ichim

Definition at line 61 of file correspondence_estimation_organized_projection.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef boost::shared_ptr< const CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> > pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 82 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef pcl::PointCloud<PointSource> pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudSource

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 73 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 75 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef PointCloudSource::Ptr pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudSourcePtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 74 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef pcl::PointCloud<PointTarget> pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudTarget

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 77 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 79 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef PointCloudTarget::Ptr pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudTargetPtr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 78 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef boost::shared_ptr< CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> > pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 81 of file correspondence_estimation_organized_projection.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::CorrespondenceEstimationOrganizedProjection ( ) [inline]

Empty constructor that sets all the intrinsic calibration to the default Kinect values.

Definition at line 87 of file correspondence_estimation_organized_projection.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::determineCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance
	)		`[virtual]`

Computes the correspondences, applying a maximum Euclidean distance threshold.

Parameters:

[in] max_distance Euclidean distance threshold above which correspondences will be rejected

Check if the point was behind the camera

Check if the depth difference is larger than the threshold

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 71 of file correspondence_estimation_organized_projection.hpp.

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::determineReciprocalCorrespondences	(	pcl::Correspondences &	correspondences,
		double	max_distance
	)		`[virtual]`

Computes the correspondences, applying a maximum Euclidean distance threshold.

Parameters:

[in] max_distance Euclidean distance threshold above which correspondences will be rejected

Implements pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 118 of file correspondence_estimation_organized_projection.hpp.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::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 128 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::getDepthThreshold ( ) const [inline]

Reads back the depth threshold; after projecting the source points in the image space of the target camera, this threshold is applied on the depths of corresponding dexels to eliminate the ones that are too far from each other.

Parameters:

[out] depth_threshold the depth threshold

Definition at line 164 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::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 111 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

Eigen::Matrix4f pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::getSourceTransformation ( ) const [inline]

Reads back the transformation from the source point cloud to the target point cloud.

Note:: The target point cloud must be in its local camera coordinates, so use this transformation to correct for that.

Parameters:

[out] src_to_tgt_transformation the transformation

Definition at line 146 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar >

bool pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::initCompute ( ) [protected]

Internal computation initalization.

Check if the target cloud is organized

Put the projection matrix together

Reimplemented from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >.

Definition at line 46 of file correspondence_estimation_organized_projection.hpp.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::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 120 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::setDepthThreshold ( const float depth_threshold ) [inline]

Sets the depth threshold; after projecting the source points in the image space of the target camera, this threshold is applied on the depths of corresponding dexels to eliminate the ones that are too far from each other.

Parameters:

[in] depth_threshold the depth threshold

Definition at line 155 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::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 103 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::setSourceTransformation ( const Eigen::Matrix4f & src_to_tgt_transformation ) [inline]

Sets the transformation from the source point cloud to the target point cloud.

Note:: The target point cloud must be in its local camera coordinates, so use this transformation to correct for that.

Parameters:

[in] src_to_tgt_transformation the transformation

Definition at line 137 of file correspondence_estimation_organized_projection.h.

Member Data Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cx_ [protected]

Definition at line 186 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cy_ [protected]

Definition at line 186 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::depth_threshold_ [protected]

Definition at line 188 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fx_ [protected]

Definition at line 185 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

float pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fy_ [protected]

Definition at line 185 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

Eigen::Matrix3f pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::projection_matrix_ [protected]

Definition at line 190 of file correspondence_estimation_organized_projection.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

Eigen::Matrix4f pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::src_to_tgt_transformation_ [protected]

Definition at line 187 of file correspondence_estimation_organized_projection.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float> class pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >