Point Cloud Library (PCL)
1.11.1-dev
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41 #include <pcl/registration/correspondence_rejection.h>
42 #include <pcl/conversions.h>
46 namespace registration {
63 : boundary_nans_threshold_(8), window_size_(5), depth_step_threshold_(0.025f)
73 boundary_nans_threshold_ = val;
76 template <
typename Po
intT>
82 static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
83 ->setInputSource(cloud);
86 template <
typename Po
intT>
92 static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
93 ->setInputTarget(cloud);
109 setInputSource<PointXYZ>(cloud);
125 setInputTarget<PointXYZ>(cloud);
141 getRemainingCorrespondences(*input_correspondences_, correspondences);
154 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>
float depth_step_threshold_
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
DataContainerInterface::Ptr DataContainerPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
int boundary_nans_threshold_
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< DataContainerInterface > Ptr
DataContainerPtr data_container_
void setNumberOfBoundaryNaNs(int val)
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
DataContainer is a container for the input and target point clouds and implements the interface to co...
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
virtual bool updateSource(const Eigen::Matrix4d &)
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
bool requiresSourcePoints() const override
See if this rejector requires source points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectionOrganizedBoundary()
Empty constructor.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Defines functions, macros and traits for allocating and using memory.
CorrespondenceRejector represents the base class for correspondence rejection methods
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.