40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
43 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/point_cloud.h>
48 namespace registration
68 typedef boost::shared_ptr<CorrespondenceRejectorMedianDistance>
Ptr;
69 typedef boost::shared_ptr<const CorrespondenceRejectorMedianDistance>
ConstPtr;
73 : median_distance_ (0)
77 rejection_name_ =
"CorrespondenceRejectorMedianDistance";
96 template <
typename Po
intT>
inline void
108 template <
typename Po
intT>
inline void
111 PCL_WARN (
"[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
112 if (!data_container_)
121 template <
typename Po
intT>
inline void
124 if (!data_container_)
140 setInputSource<PointXYZ> (cloud);
154 setInputTarget<PointXYZ> (cloud);
164 template <
typename Po
intT>
inline void
166 bool force_no_recompute =
false)
169 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
191 getRemainingCorrespondences (*input_correspondences_, correspondences);
211 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
213 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
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...
CorrespondenceRejector represents the base class for correspondence rejection methods ...
const std::string & getClassName() const
Get a string representation of the name of this class.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.