43#include <pcl/registration/correspondence_rejection.h>
44#include <pcl/conversions.h>
48namespace registration {
62 using CorrespondenceRejector::getClassName;
63 using CorrespondenceRejector::input_correspondences_;
64 using CorrespondenceRejector::rejection_name_;
73 rejection_name_ =
"CorrespondenceRejectorDistance";
96 max_distance_ = distance * distance;
104 return std::sqrt(max_distance_);
111 template <
typename Po
intT>
115 if (!data_container_)
124 template <
typename Po
intT>
128 if (!data_container_)
172 template <
typename Po
intT>
188 getRemainingCorrespondences(*input_correspondences_, correspondences);
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
DataContainerInterface::Ptr DataContainerPtr
void setSearchMethodTarget(const typename pcl::search::KdTree< PointT >::Ptr &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud.
bool requiresSourcePoints() const override
See if this rejector requires source points.
~CorrespondenceRejectorDistance()
Empty destructor.
float getMaximumDistance() const
Get the maximum distance used for thresholding in correspondence rejection.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
Get a list of valid correspondences after rejection from the original set of correspondences.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
CorrespondenceRejectorDistance()
Empty constructor.
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
CorrespondenceRejector represents the base class for correspondence rejection methods
shared_ptr< DataContainerInterface > Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr