correspondence_rejection_features.hpp
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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void
pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature (
const typename pcl::PointCloud<FeatureT>::ConstPtr &source_feature, const std::string &key)
{
if (features_map_.count (key) == 0)
features_map_[key].reset (new FeatureContainer<FeatureT>);
boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setSourceFeature (source_feature);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr
pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature (const std::string &key)
{
if (features_map_.count (key) == 0)
return (boost::shared_ptr<pcl::PointCloud<const FeatureT> > ());
else
return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ());
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void
pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature (
const typename pcl::PointCloud<FeatureT>::ConstPtr &target_feature, const std::string &key)
{
if (features_map_.count (key) == 0)
features_map_[key].reset (new FeatureContainer<FeatureT>);
boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr
pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature (const std::string &key)
{
if (features_map_.count (key) == 0)
return (boost::shared_ptr<const pcl::PointCloud<FeatureT> > ());
else
return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ());
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void
pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold (
double thresh, const std::string &key)
{
if (features_map_.count (key) == 0)
features_map_[key].reset (new FeatureContainer<FeatureT>);
boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename FeatureT> inline void
pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation (
const typename pcl::PointRepresentation<FeatureT>::ConstPtr &fr,
const std::string &key)
{
if (features_map_.count (key) == 0)
features_map_[key].reset (new FeatureContainer<FeatureT>);
boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr);
}
#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */
pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud&#39;s feature descriptors, specified by the given key.
Definition: correspondence_rejection_features.hpp:55
pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature
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...
Definition: correspondence_rejection_features.hpp:45
pcl::PointRepresentation::ConstPtr
boost::shared_ptr< const PointRepresentation< PointT > > ConstPtr
Definition: point_representation.h:75
pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature
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...
Definition: correspondence_rejection_features.hpp:65
pcl::registration::CorrespondenceRejectorFeatures::features_map_
FeaturesMap features_map_
An STL map containing features to use when performing the correspondence search.
Definition: correspondence_rejection_features.h:167
pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature
pcl::PointCloud< FeatureT >::ConstPtr getTargetFeature(const std::string &key)
Get a pointer to the source cloud&#39;s feature descriptors, specified by the given key.
Definition: correspondence_rejection_features.hpp:75
pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation
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...
Definition: correspondence_rejection_features.hpp:97
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold
void setDistanceThreshold(double thresh, const std::string &key)
Set a hard distance threshold in the feature FeatureT space, between source and target features...
Definition: correspondence_rejection_features.hpp:85
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::getTargetFeature
FeatureCloudConstPtr getTargetFeature()
Definition: correspondence_rejection_features.h:211
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::getSourceFeature
FeatureCloudConstPtr getSourceFeature()
Definition: correspondence_rejection_features.h:199
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer
An inner class containing pointers to the source and target feature clouds and the parameters needed ...
Definition: correspondence_rejection_features.h:176