43 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/memory.h>
45 #include <pcl/point_cloud.h>
50 namespace registration
70 using Ptr = shared_ptr<CorrespondenceRejectorMedianDistance>;
71 using ConstPtr = shared_ptr<const CorrespondenceRejectorMedianDistance>;
75 : median_distance_ (0)
78 rejection_name_ =
"CorrespondenceRejectorMedianDistance";
97 template <
typename Po
intT>
inline void
100 if (!data_container_)
109 template <
typename Po
intT>
110 PCL_DEPRECATED(1, 12,
"pcl::registration::CorrespondenceRejectorMedianDistance::setInputCloud is deprecated. Please use setInputSource instead")
114 if (!data_container_)
123 template <
typename Po
intT>
inline void
126 if (!data_container_)
142 setInputSource<PointXYZ> (cloud);
156 setInputTarget<PointXYZ> (cloud);
166 template <
typename Po
intT>
inline void
168 bool force_no_recompute =
false)
171 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
193 getRemainingCorrespondences (*input_correspondences_, correspondences);
213 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
shared_ptr< KdTree< PointT, Tree > > Ptr
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...
shared_ptr< const CorrespondenceRejector > ConstPtr
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< CorrespondenceRejector > Ptr
CorrespondenceRejector represents the base class for correspondence rejection methods ...
const std::string & getClassName() const
Get a string representation of the name of this class.
shared_ptr< PointCloud< PointT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< DataContainerInterface > Ptr
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
A point structure representing Euclidean xyz coordinates, and the RGB color.