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correspondence_estimation_organized_projection.hpp
/*
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#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_IMPL_HPP_
#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_IMPL_HPP_
namespace pcl {
namespace registration {
template <typename PointSource, typename PointTarget, typename Scalar>
bool
CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar>::
initCompute()
{
// Set the target_cloud_updated_ variable to true, so that the kd-tree is not built -
// it is not needed for this class
target_cloud_updated_ = false;
if (!CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initCompute())
return (false);
/// Check if the target cloud is organized
if (!target_->isOrganized()) {
PCL_WARN("[pcl::registration::%s::initCompute] Target cloud is not organized.\n",
getClassName().c_str());
return (false);
}
/// Put the projection matrix together
projection_matrix_(0, 0) = fx_;
projection_matrix_(1, 1) = fy_;
projection_matrix_(0, 2) = cx_;
projection_matrix_(1, 2) = cy_;
return (true);
}
template <typename PointSource, typename PointTarget, typename Scalar>
void
CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar>::
determineCorrespondences(pcl::Correspondences& correspondences, double max_distance)
{
if (!initCompute())
return;
correspondences.resize(indices_->size());
std::size_t c_index = 0;
for (const auto& src_idx : (*indices_)) {
if (isFinite((*input_)[src_idx])) {
Eigen::Vector4f p_src(src_to_tgt_transformation_ *
(*input_)[src_idx].getVector4fMap());
Eigen::Vector3f p_src3(p_src[0], p_src[1], p_src[2]);
Eigen::Vector3f uv(projection_matrix_ * p_src3);
/// Check if the point was behind the camera
if (uv[2] <= 0)
continue;
int u = static_cast<int>(uv[0] / uv[2]);
int v = static_cast<int>(uv[1] / uv[2]);
if (u >= 0 && u < static_cast<int>(target_->width) && v >= 0 &&
v < static_cast<int>(target_->height)) {
const PointTarget& pt_tgt = target_->at(u, v);
if (!isFinite(pt_tgt))
continue;
/// Check if the depth difference is larger than the threshold
if (std::abs(uv[2] - pt_tgt.z) > depth_threshold_)
continue;
double dist = (p_src3 - pt_tgt.getVector3fMap()).norm();
if (dist < max_distance)
correspondences[c_index++] = pcl::Correspondence(
src_idx, v * target_->width + u, static_cast<float>(dist));
}
}
}
correspondences.resize(c_index);
}
template <typename PointSource, typename PointTarget, typename Scalar>
void
CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar>::
determineReciprocalCorrespondences(pcl::Correspondences& correspondences,
double max_distance)
{
// Call the normal determineCorrespondences (...), as doing it both ways will not
// improve the results
determineCorrespondences(correspondences, max_distance);
}
} // namespace registration
} // namespace pcl
#endif // PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_IMPL_HPP_
pcl::registration::CorrespondenceEstimationBase
Abstract CorrespondenceEstimationBase class.
Definition correspondence_estimation.h:60
pcl::registration::CorrespondenceEstimationOrganizedProjection::determineCorrespondences
void determineCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
Definition correspondence_estimation_organized_projection.hpp:78
pcl::registration::CorrespondenceEstimationOrganizedProjection::initCompute
bool initCompute()
Definition correspondence_estimation_organized_projection.hpp:51
pcl::registration::CorrespondenceEstimationOrganizedProjection::determineReciprocalCorrespondences
void determineReciprocalCorrespondences(Correspondences &correspondences, double max_distance)
Computes the correspondences, applying a maximum Euclidean distance threshold.
Definition correspondence_estimation_organized_projection.hpp:123
pcl
Definition convolution.h:46
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
pcl::Correspondence
Correspondence represents a match between two entities (e.g., points, descriptors,...
Definition correspondence.h:61