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
87 template <
typename Po
intT>
inline void
106 { getRemainingCorrespondences (*input_correspondences_, correspondences); }
118 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void setNumberOfBoundaryNaNs(int val)
boost::shared_ptr< pcl::registration::DataContainerInterface > DataContainerPtr
virtual bool updateSource(const Eigen::Matrix4d &)
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
DataContainer is a container for the input and target point clouds and implements the interface to co...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
float depth_step_threshold_
CorrespondenceRejectionOrganizedBoundary()
Empty constructor.
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
int boundary_nans_threshold_
DataContainerPtr data_container_