Point Cloud Library (PCL)
1.11.1
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42 #include <pcl/registration/correspondence_rejection_sample_consensus.h>
46 namespace registration
54 template <
typename Po
intT>
72 using Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus2D<PointT> >;
73 using ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus2D<PointT> >;
162 #include <pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp>
shared_ptr< CorrespondenceRejector > Ptr
shared_ptr< const CorrespondenceRejector > ConstPtr
void getFocalLengths(float &fx, float &fy) const
Reads back the focal length parameters of the target camera.
Eigen::Matrix3f projection_matrix_
Camera projection matrix.
void setCameraCenters(const float cx, const float cy)
Sets the camera center parameters of the target camera.
PointCloud represents the base class in PCL for storing collections of 3D points.
CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Rando...
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 getCameraCenters(float &cx, float &cy) const
Reads back the camera center parameters of the target camera.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectorSampleConsensus2D()
Empty constructor.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
Defines functions, macros and traits for allocating and using memory.
void setFocalLengths(const float fx, const float fy)
Sets the focal length parameters of the target camera.