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 setInputSource<PointXYZ> (cloud);
120 setInputTarget<PointXYZ> (cloud);
134 { getRemainingCorrespondences (*input_correspondences_, correspondences); }
146 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp> CorrespondenceRejectionOrganizedBoundary()
Empty constructor.
virtual bool updateSource(const Eigen::Matrix4d &)
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.
DataContainer is a container for the input and target point clouds and implements the interface to co...
boost::shared_ptr< pcl::registration::DataContainerInterface > DataContainerPtr
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
This file defines compatibility wrappers for low level I/O functions.
CorrespondenceRejector represents the base class for correspondence rejection methods
float depth_step_threshold_
void setNumberOfBoundaryNaNs(int val)
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target cloud.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
DataContainerPtr data_container_
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
bool requiresSourcePoints() const
See if this rejector requires source points.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
PointCloud represents the base class in PCL for storing collections of 3D points.
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
int boundary_nans_threshold_