43#include <pcl/registration/correspondence_rejection.h>
44#include <pcl/conversions.h>
46#include <pcl/point_cloud.h>
49namespace registration {
62 using CorrespondenceRejector::getClassName;
63 using CorrespondenceRejector::input_correspondences_;
64 using CorrespondenceRejector::rejection_name_;
73 rejection_name_ =
"CorrespondenceRejectorMedianDistance";
90 return (median_distance_);
97 template <
typename Po
intT>
101 if (!data_container_)
110 template <
typename Po
intT>
114 if (!data_container_)
158 template <
typename Po
intT>
190 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
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