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>
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectorDistance()
Empty constructor.
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...
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
boost::shared_ptr< CorrespondenceRejectorDistance > Ptr
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
boost::shared_ptr< const CorrespondenceRejectorDistance > ConstPtr
CorrespondenceRejector represents the base class for correspondence rejection methods ...
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< DataContainerInterface > DataContainerPtr
DataContainer is a container for the input and target point clouds and implements the interface to co...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
std::string rejection_name_
The name of the rejection method.
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
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...
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
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...
float getMaximumDistance()
Get the maximum distance used for thresholding in correspondence rejection.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
const std::string & getClassName() const
Get a string representation of the name of this class.
virtual ~CorrespondenceRejectorDistance()
Empty destructor.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...