CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point cloud onto the target point cloud using the camera intrinsic and extrinsic parameters. More...

#include <pcl/registration/correspondence_estimation_organized_projection.h>

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

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

Public Types
using	PointCloudSource = pcl::PointCloud< PointSource >

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = pcl::PointCloud< PointTarget >

using	PointCloudTargetPtr = typename PointCloudTarget::Ptr

using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using	Ptr = shared_ptr< CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar > >

Public Types inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
using	Ptr = shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, float > >

using	ConstPtr = shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, float > >

using	KdTree = pcl::search::KdTree< PointTarget >

using	KdTreePtr = typename KdTree::Ptr

using	KdTreeConstPtr = typename KdTree::ConstPtr

using	KdTreeReciprocal = pcl::search::KdTree< PointSource >

using	KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr

using	KdTreeReciprocalConstPtr = typename KdTreeReciprocal::ConstPtr

using	PointCloudSource = pcl::PointCloud< PointSource >

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = pcl::PointCloud< PointTarget >

using	PointCloudTargetPtr = typename PointCloudTarget::Ptr

using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using	PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

using	PointRepresentationReciprocalConstPtr = typename KdTreeReciprocal::PointRepresentationConstPtr

Public Types inherited from pcl::PCLBase< PointSource >
using	PointCloud = pcl::PointCloud< PointSource >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	CorrespondenceEstimationOrganizedProjection ()
	Empty constructor that sets all the intrinsic calibration to the default Kinect values. More...

void	setFocalLengths (const float fx, const float fy)
	Sets the focal length parameters of the target camera. More...

void	getFocalLengths (float &fx, float &fy) const
	Reads back the focal length parameters of the target camera. More...

void	setCameraCenters (const float cx, const float cy)
	Sets the camera center parameters of the target camera. More...

void	getCameraCenters (float &cx, float &cy) const
	Reads back the camera center parameters of the target camera. More...

void	setSourceTransformation (const Eigen::Matrix4f &src_to_tgt_transformation)
	Sets the transformation from the source point cloud to the target point cloud. More...

Eigen::Matrix4f	getSourceTransformation () const
	Reads back the transformation from the source point cloud to the target point cloud. More...

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. More...

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. More...

void	determineCorrespondences (Correspondences &correspondences, double max_distance)
	Computes the correspondences, applying a maximum Euclidean distance threshold. More...

void	determineReciprocalCorrespondences (Correspondences &correspondences, double max_distance)
	Computes the correspondences, applying a maximum Euclidean distance threshold. More...

virtual CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::Ptr	clone () const
	Clone and cast to CorrespondenceEstimationBase. More...

Public Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
	CorrespondenceEstimationBase ()
	Empty constructor. More...

	~CorrespondenceEstimationBase () override=default
	Empty destructor. More...

void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...

void	setInputTarget (const PointCloudTargetConstPtr &cloud)
	Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...

PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...

void	setNumberOfThreads (unsigned int nr_threads)
	Set the number of threads to use. More...

virtual bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...

virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals. More...

virtual bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...

virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals. More...

void	setIndicesSource (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input source point cloud. More...

IndicesPtr const	getIndicesSource ()
	Get a pointer to the vector of indices used for the source dataset. More...

void	setIndicesTarget (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represent the input target point cloud. More...

IndicesPtr const	getIndicesTarget ()
	Get a pointer to the vector of indices used for the target dataset. More...

void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud. More...

void	setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...

KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud. More...

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation for target cloud to be used when searching for nearest neighbors. More...

void	setPointRepresentationReciprocal (const PointRepresentationReciprocalConstPtr &point_representation_reciprocal)
	Provide a boost shared pointer to the PointRepresentation for source cloud to be used when searching for nearest neighbors. More...

Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
bool	initCompute ()

Protected Member Functions inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
const std::string &	getClassName () const
	Abstract class get name method. More...

bool	initCompute ()
	Internal computation initialization. More...

bool	initComputeReciprocal ()
	Internal computation initialization for reciprocal correspondences. More...

Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
float	fx_ {525.f}

float	fy_ {525.f}

float	cx_ {319.5f}

float	cy_ {239.5f}

Eigen::Matrix4f	src_to_tgt_transformation_

float	depth_threshold_

Eigen::Matrix3f	projection_matrix_

Protected Attributes inherited from pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, float >
std::string	corr_name_
	The correspondence estimation method name. More...

KdTreePtr	tree_
	A pointer to the spatial search object used for the target dataset. More...

KdTreeReciprocalPtr	tree_reciprocal_
	A pointer to the spatial search object used for the source dataset. More...

PointCloudTargetConstPtr	target_
	The input point cloud dataset target. More...

IndicesPtr	target_indices_
	The target point cloud dataset indices. More...

PointRepresentationConstPtr	point_representation_
	The target point representation used (internal). More...

PointRepresentationReciprocalConstPtr	point_representation_reciprocal_
	The source point representation used (internal). More...

PointCloudTargetPtr	input_transformed_
	The transformed input source point cloud dataset. More...

std::vector< pcl::PCLPointField >	input_fields_
	The types of input point fields available. More...

bool	target_cloud_updated_
	Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...

bool	source_cloud_updated_
	Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...

bool	force_no_recompute_
	A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...

bool	force_no_recompute_reciprocal_
	A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...

unsigned int	num_threads_

Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

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 60 of file correspondence_estimation_organized_projection.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >

Definition at line 85 of file correspondence_estimation_organized_projection.h.

◆ PointCloudSource

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

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

Definition at line 75 of file correspondence_estimation_organized_projection.h.

◆ PointCloudSourceConstPtr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 77 of file correspondence_estimation_organized_projection.h.

◆ PointCloudSourcePtr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 76 of file correspondence_estimation_organized_projection.h.

◆ PointCloudTarget

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

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

Definition at line 79 of file correspondence_estimation_organized_projection.h.

◆ PointCloudTargetConstPtr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Definition at line 81 of file correspondence_estimation_organized_projection.h.

◆ PointCloudTargetPtr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr

Definition at line 80 of file correspondence_estimation_organized_projection.h.

◆ Ptr

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

using pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::Ptr = shared_ptr< CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> >

Definition at line 83 of file correspondence_estimation_organized_projection.h.

Constructor & Destructor Documentation

◆ CorrespondenceEstimationOrganizedProjection()

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 92 of file correspondence_estimation_organized_projection.h.

Member Function Documentation

◆ clone()

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

virtual CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::Ptr pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::clone ( ) const

inlinevirtual

Clone and cast to CorrespondenceEstimationBase.

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

Definition at line 208 of file correspondence_estimation_organized_projection.h.

◆ determineCorrespondences()

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

[out]	correspondences	the found correspondences (index of query point, index of target point, distance)
[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, float >.

Definition at line 77 of file correspondence_estimation_organized_projection.hpp.

References pcl::isFinite().

◆ determineReciprocalCorrespondences()

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

[out]	correspondences	the found correspondences (index of query and target point, distance)
[in]	max_distance	Euclidean distance threshold above which correspondences will be rejected

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

Definition at line 122 of file correspondence_estimation_organized_projection.hpp.

◆ getCameraCenters()

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 136 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cx_, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cy_.

◆ getDepthThreshold()

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.

Returns: the depth threshold

Definition at line 180 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::depth_threshold_.

◆ getFocalLengths()

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 114 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fx_, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fy_.

◆ getSourceTransformation()

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.

Returns: the transformation

Definition at line 158 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::src_to_tgt_transformation_.

◆ initCompute()

template<typename PointSource , typename PointTarget , typename Scalar >

bool pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::initCompute

protected

Check if the target cloud is organized

Put the projection matrix together

Definition at line 50 of file correspondence_estimation_organized_projection.hpp.

◆ setCameraCenters()

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 125 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cx_, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::cy_.

◆ setDepthThreshold()

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 169 of file correspondence_estimation_organized_projection.h.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::depth_threshold_.

◆ setFocalLengths()

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.

References pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fx_, and pcl::registration::CorrespondenceEstimationOrganizedProjection< PointSource, PointTarget, Scalar >::fy_.

◆ setSourceTransformation()

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.