correspondence_rejection_sample_consensus_2d.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_

#include <pcl/registration/correspondence_rejection_sample_consensus.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointT>
    class CorrespondenceRejectorSampleConsensus2D: public CorrespondenceRejectorSampleConsensus<PointT>
    {
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        using CorrespondenceRejectorSampleConsensus<PointT>::refine_;
        using CorrespondenceRejectorSampleConsensus<PointT>::input_;
        using CorrespondenceRejectorSampleConsensus<PointT>::target_;
        using CorrespondenceRejectorSampleConsensus<PointT>::input_correspondences_;
        using CorrespondenceRejectorSampleConsensus<PointT>::rejection_name_;
        using CorrespondenceRejectorSampleConsensus<PointT>::getClassName;
        using CorrespondenceRejectorSampleConsensus<PointT>::inlier_threshold_;
        using CorrespondenceRejectorSampleConsensus<PointT>::max_iterations_;
        using CorrespondenceRejectorSampleConsensus<PointT>::best_transformation_;

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

        CorrespondenceRejectorSampleConsensus2D ()
          : projection_matrix_ (Eigen::Matrix3f::Identity ())
        {
          rejection_name_ = "CorrespondenceRejectorSampleConsensus2D";
          // Put the projection matrix together
          //projection_matrix_ (0, 0) = 525.f;
          //projection_matrix_ (1, 1) = 525.f;
          //projection_matrix_ (0, 2) = 320.f;
          //projection_matrix_ (1, 2) = 240.f;
        }

        inline void 
        getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 
                                     pcl::Correspondences& remaining_correspondences);

        inline void
        setFocalLengths (const float fx, const float fy)
        { 
          projection_matrix_ (0, 0) = fx;
          projection_matrix_ (1, 1) = fy;
        }

        inline void
        getFocalLengths (float &fx, float &fy) const
        { 
          fx = projection_matrix_ (0, 0); 
          fy = projection_matrix_ (1, 1); 
        }


        inline void
        setCameraCenters (const float cx, const float cy)
        { 
          projection_matrix_ (0, 2) = cx;
          projection_matrix_ (1, 2) = cy;
        }

        inline void
        getCameraCenters (float &cx, float &cy) const
        {
          cx = projection_matrix_ (0, 2);
          cy = projection_matrix_ (1, 2);
        }

      protected:

        inline void 
        applyRejection (pcl::Correspondences &correspondences)
        {
          getRemainingCorrespondences (*input_correspondences_, correspondences);
        }

        Eigen::Matrix3f projection_matrix_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_