40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ 41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ 44 template <
typename FeatureT>
inline void 57 if (features_map_.count (key) == 0)
64 template <
typename FeatureT>
inline void 68 if (features_map_.count (key) == 0)
77 if (features_map_.count (key) == 0)
84 template <
typename FeatureT>
inline void 86 double thresh,
const std::string &key)
88 if (features_map_.count (key) == 0)
96 template <
typename FeatureT>
inline void 99 const std::string &key)
101 if (features_map_.count (key) == 0)
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud'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'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.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
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.
FeatureCloudConstPtr getTargetFeature()
FeatureCloudConstPtr getSourceFeature()
An inner class containing pointers to the source and target feature clouds and the parameters needed ...