39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
42 #include <pcl/registration/correspondence_rejection_sample_consensus.h>
46 namespace registration
54 template <
typename Po
intT>
72 typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus2D>
Ptr;
73 typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus2D>
ConstPtr;
157 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
162 #include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>
164 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Rando...
CorrespondenceRejectorSampleConsensus2D()
Empty constructor.
Eigen::Matrix3f projection_matrix_
Camera projection matrix.
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
boost::shared_ptr< const CorrespondenceRejectorSampleConsensus2D > ConstPtr
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
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.
boost::shared_ptr< CorrespondenceRejectorSampleConsensus2D > Ptr
void getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
std::string rejection_name_
The name of the rejection method.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.