Point Cloud Library (PCL)  1.7.0
correspondence_rejection_features.hpp
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40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
42 
43 //////////////////////////////////////////////////////////////////////////////////////////////
44 template <typename FeatureT> inline void
46  const typename pcl::PointCloud<FeatureT>::ConstPtr &source_feature, const std::string &key)
47 {
48  if (features_map_.count (key) == 0)
50  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setSourceFeature (source_feature);
51 }
52 
53 //////////////////////////////////////////////////////////////////////////////////////////////
54 template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr
56 {
57  if (features_map_.count (key) == 0)
58  return (boost::shared_ptr<pcl::PointCloud<const FeatureT> > ());
59  else
60  return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ());
61 }
62 
63 //////////////////////////////////////////////////////////////////////////////////////////////
64 template <typename FeatureT> inline void
66  const typename pcl::PointCloud<FeatureT>::ConstPtr &target_feature, const std::string &key)
67 {
68  if (features_map_.count (key) == 0)
69  features_map_[key].reset (new FeatureContainer<FeatureT>);
70  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature);
71 }
72 
73 //////////////////////////////////////////////////////////////////////////////////////////////
74 template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr
76 {
77  if (features_map_.count (key) == 0)
78  return (boost::shared_ptr<const pcl::PointCloud<FeatureT> > ());
79  else
80  return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ());
81 }
82 
83 //////////////////////////////////////////////////////////////////////////////////////////////
84 template <typename FeatureT> inline void
86  double thresh, const std::string &key)
87 {
88  if (features_map_.count (key) == 0)
89  features_map_[key].reset (new FeatureContainer<FeatureT>);
90  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh);
91 }
92 
93 
94 
95 //////////////////////////////////////////////////////////////////////////////////////////////
96 template <typename FeatureT> inline void
99  const std::string &key)
100 {
101  if (features_map_.count (key) == 0)
102  features_map_[key].reset (new FeatureContainer<FeatureT>);
103  boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr);
104 }
105 
106 
107 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud&#39;s feature descriptors, specified by the given key.
void setSourceFeature(const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key)
Provide a pointer to a cloud of feature descriptors associated with the source point cloud...
boost::shared_ptr< const PointRepresentation< PointT > > ConstPtr
void setTargetFeature(const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key)
Provide a pointer to a cloud of feature descriptors associated with the target point cloud...
FeaturesMap features_map_
An STL map containing features to use when performing the correspondence search.
pcl::PointCloud< FeatureT >::ConstPtr getTargetFeature(const std::string &key)
Get a pointer to the source cloud&#39;s feature descriptors, specified by the given key.
void setFeatureRepresentation(const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key)
Provide a boost shared pointer to a PointRepresentation to be used when comparing features...
void setDistanceThreshold(double thresh, const std::string &key)
Set a hard distance threshold in the feature FeatureT space, between source and target features...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
An inner class containing pointers to the source and target feature clouds and the parameters needed ...