Point Cloud Library (PCL)
1.9.1
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39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_
40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_
42 #include <pcl/registration/correspondence_rejection.h>
47 namespace registration
64 : boundary_nans_threshold_ (8)
66 , depth_step_threshold_ (0.025f)
76 { boundary_nans_threshold_ = val; }
79 template <
typename Po
intT>
inline void
84 boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputSource (cloud);
87 template <
typename Po
intT>
inline void
92 boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputTarget (cloud);
106 setInputSource<PointXYZ> (cloud);
120 setInputTarget<PointXYZ> (cloud);
134 { getRemainingCorrespondences (*input_correspondences_, correspondences); }
146 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>
This file defines compatibility wrappers for low level I/O functions.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
float depth_step_threshold_
boost::shared_ptr< pcl::registration::DataContainerInterface > DataContainerPtr
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &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.
DataContainerPtr data_container_
void setNumberOfBoundaryNaNs(int val)
DataContainer is a container for the input and target point clouds and implements the interface to co...
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target cloud.
virtual bool updateSource(const Eigen::Matrix4d &)
bool requiresSourcePoints() const
See if this rejector requires source points.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
CorrespondenceRejectionOrganizedBoundary()
Empty constructor.
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.