Point Cloud Library (PCL)
1.10.0
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40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
44 template <
typename FeatureT>
inline void
57 if (features_map_.count (key) == 0)
63 template <
typename FeatureT>
inline void
67 if (features_map_.count (key) == 0)
69 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature);
76 if (features_map_.count (key) == 0)
82 template <
typename FeatureT>
inline void
84 double thresh,
const std::string &key)
86 if (features_map_.count (key) == 0)
88 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh);
94 template <
typename FeatureT>
inline void
97 const std::string &key)
99 if (features_map_.count (key) == 0)
101 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr);
pcl::PointCloud< FeatureT >::ConstPtr getTargetFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.
shared_ptr< const PointRepresentation< PointT > > ConstPtr
void setTargetFeature(const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key)
Provide a pointer to a cloud of feature descriptors associated with the target point cloud.
FeaturesMap features_map_
An STL map containing features to use when performing the correspondence search.
An inner class containing pointers to the source and target feature clouds and the parameters needed ...
void setFeatureRepresentation(const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key)
Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
void setSourceFeature(const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key)
Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
shared_ptr< const PointCloud< PointT > > ConstPtr
void setDistanceThreshold(double thresh, const std::string &key)
Set a hard distance threshold in the feature FeatureT space, between source and target features.