00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ 00041 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ 00042 00044 template <typename FeatureT> inline void 00045 pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature ( 00046 const typename pcl::PointCloud<FeatureT>::ConstPtr &source_feature, const std::string &key) 00047 { 00048 if (features_map_.count (key) == 0) 00049 features_map_[key].reset (new FeatureContainer<FeatureT>); 00050 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setSourceFeature (source_feature); 00051 } 00052 00054 template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 00055 pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature (const std::string &key) 00056 { 00057 if (features_map_.count (key) == 0) 00058 return (boost::shared_ptr<pcl::PointCloud<const FeatureT> > ()); 00059 else 00060 return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getSourceFeature ()); 00061 } 00062 00064 template <typename FeatureT> inline void 00065 pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature ( 00066 const typename pcl::PointCloud<FeatureT>::ConstPtr &target_feature, const std::string &key) 00067 { 00068 if (features_map_.count (key) == 0) 00069 features_map_[key].reset (new FeatureContainer<FeatureT>); 00070 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setTargetFeature (target_feature); 00071 } 00072 00074 template <typename FeatureT> inline typename pcl::PointCloud<FeatureT>::ConstPtr 00075 pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature (const std::string &key) 00076 { 00077 if (features_map_.count (key) == 0) 00078 return (boost::shared_ptr<const pcl::PointCloud<FeatureT> > ()); 00079 else 00080 return (boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->getTargetFeature ()); 00081 } 00082 00084 template <typename FeatureT> inline void 00085 pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold ( 00086 double thresh, const std::string &key) 00087 { 00088 if (features_map_.count (key) == 0) 00089 features_map_[key].reset (new FeatureContainer<FeatureT>); 00090 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setDistanceThreshold (thresh); 00091 } 00092 00093 00094 00096 template <typename FeatureT> inline void 00097 pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation ( 00098 const typename pcl::PointRepresentation<FeatureT>::ConstPtr &fr, 00099 const std::string &key) 00100 { 00101 if (features_map_.count (key) == 0) 00102 features_map_[key].reset (new FeatureContainer<FeatureT>); 00103 boost::static_pointer_cast<FeatureContainer<FeatureT> > (features_map_[key])->setFeatureRepresentation (fr); 00104 } 00105 00106 00107 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */