40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_
44 template <
typename FeatureT>
inline void
57 if (features_map_.count (key) == 0)
64 template <
typename FeatureT>
inline void
68 if (features_map_.count (key) == 0)
77 if (features_map_.count (key) == 0)
84 template <
typename FeatureT>
inline void
86 double thresh,
const std::string &key)
88 if (features_map_.count (key) == 0)
96 template <
typename FeatureT>
inline void
99 const std::string &key)
101 if (features_map_.count (key) == 0)
PointCloud represents the base class in PCL for storing collections of 3D points. ...
FeatureCloudConstPtr getTargetFeature()
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...
void setDistanceThreshold(double thresh, const std::string &key)
Set a hard distance threshold in the feature FeatureT space, between source and target features...
boost::shared_ptr< const PointRepresentation< PointT > > ConstPtr
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 getTargetFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.
pcl::PointCloud< FeatureT >::ConstPtr getSourceFeature(const std::string &key)
Get a pointer to the source cloud's feature descriptors, specified by the given key.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
An inner class containing pointers to the source and target feature clouds and the parameters needed ...
FeaturesMap features_map_
An STL map containing features to use when performing the correspondence search.
FeatureCloudConstPtr getSourceFeature()
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...