Point Cloud Library (PCL) 1.15.0
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correspondence_rejection_features.hpp
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40
41#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
42#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
43
44#include <boost/pointer_cast.hpp> // for static_pointer_cast
45
46namespace pcl {
47
48namespace registration {
49
50template <typename FeatureT>
51inline void
53 const typename pcl::PointCloud<FeatureT>::ConstPtr& source_feature,
54 const std::string& key)
55{
56 if (features_map_.count(key) == 0)
58 boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
59 ->setSourceFeature(source_feature);
60}
61
62template <typename FeatureT>
65{
66 if (features_map_.count(key) == 0)
67 return (nullptr);
68 return (boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
70}
71
72template <typename FeatureT>
73inline void
75 const typename pcl::PointCloud<FeatureT>::ConstPtr& target_feature,
76 const std::string& key)
77{
78 if (features_map_.count(key) == 0)
80 boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
81 ->setTargetFeature(target_feature);
82}
83
84template <typename FeatureT>
87{
88 if (features_map_.count(key) == 0)
89 return (nullptr);
90 return (boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
92}
93
94template <typename FeatureT>
95inline void
97 const std::string& key)
98{
99 if (features_map_.count(key) == 0)
101 boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
102 ->setDistanceThreshold(thresh);
103}
104
105template <typename FeatureT>
106inline void
109 const std::string& key)
110{
111 if (features_map_.count(key) == 0)
113 boost::static_pointer_cast<FeatureContainer<FeatureT>>(features_map_[key])
115}
116
117} // namespace registration
118} // namespace pcl
119
120#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< const PointRepresentation< PointT > > ConstPtr
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.
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.
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.
void setDistanceThreshold(double thresh, const std::string &key)
Set a hard distance threshold in the feature FeatureT space, between source and target 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.
pcl::PointCloud< FeatureT >::ConstPtr getTargetFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.