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 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)
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
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
bool requiresSourcePoints() const
See if this rejector requires source points.
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
int boundary_nans_threshold_