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_)
136 template <
typename Po
intT>
inline void
138 bool force_no_recompute =
false)
141 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
163 getRemainingCorrespondences (*input_correspondences_, correspondences);
183 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
185 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
DataContainer is a container for the input and target point clouds and implements the interface to co...
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
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
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.