41 #include <pcl/registration/correspondence_rejection.h>
42 #include <pcl/conversions.h>
43 #include <pcl/memory.h>
46 namespace registration {
71 boundary_nans_threshold_ = val;
74 template <
typename Po
intT>
81 ->setInputSource(cloud);
84 template <
typename Po
intT>
91 ->setInputTarget(cloud);
107 setInputSource<PointXYZ>(cloud);
123 setInputTarget<PointXYZ>(cloud);
139 getRemainingCorrespondences(*input_correspondences_, correspondences);
142 int boundary_nans_threshold_{8};
144 float depth_step_threshold_{0.025f};
virtual bool updateSource(const Eigen::Matrix4d &)
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< PointCloud< PointT > > Ptr
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 ...
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
void setNumberOfBoundaryNaNs(int val)
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
DataContainerInterface::Ptr DataContainerPtr
DataContainerPtr data_container_
PointCloud represents the base class in PCL for storing collections of 3D points. ...
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
bool requiresSourcePoints() const override
See if this rejector requires source points.
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud object using a field_map...
shared_ptr< DataContainerInterface > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences