40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
43 #include <pcl/registration/correspondence_rejection.h>
47 namespace registration
68 typedef boost::shared_ptr<CorrespondenceRejectorDistance>
Ptr;
69 typedef boost::shared_ptr<const CorrespondenceRejectorDistance>
ConstPtr;
75 rejection_name_ =
"CorrespondenceRejectorDistance";
105 template <
typename Po
intT>
inline void
108 PCL_WARN (
"[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
109 if (!data_container_)
118 template <
typename Po
intT>
inline void
121 if (!data_container_)
130 template <
typename Po
intT>
inline void
133 if (!data_container_)
145 template <
typename Po
intT>
inline void
147 bool force_no_recompute =
false)
150 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
162 getRemainingCorrespondences (*input_correspondences_, correspondences);
179 #include <pcl/registration/impl/correspondence_rejection_distance.hpp>
DataContainer is a container for the input and target point clouds and implements the interface to co...
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
void setSearchMethodTarget(const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud...
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
boost::shared_ptr< CorrespondenceRejectorDistance > Ptr
float getMaximumDistance()
Get the maximum distance used for thresholding in correspondence rejection.
boost::shared_ptr< DataContainerInterface > DataContainerPtr
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
const std::string & getClassName() const
Get a string representation of the name of this class.
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
CorrespondenceRejectorDistance()
Empty constructor.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
virtual ~CorrespondenceRejectorDistance()
Empty destructor.
void setInputCloud(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
boost::shared_ptr< const CorrespondenceRejectorDistance > ConstPtr