42 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
43 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
49 namespace registration
52 template <
typename FeatureT>
inline void
71 template <
typename FeatureT>
inline void
90 template <
typename FeatureT>
inline void
92 double thresh,
const std::string &key)
100 template <
typename FeatureT>
inline void
103 const std::string &key)
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.