39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/point_cloud.h>
47 namespace registration
67 typedef boost::shared_ptr<CorrespondenceRejectorSurfaceNormal>
Ptr;
68 typedef boost::shared_ptr<const CorrespondenceRejectorSurfaceNormal>
ConstPtr;
75 rejection_name_ =
"CorrespondenceRejectorSurfaceNormal";
97 template <
typename Po
intT,
typename NormalT>
inline void
106 template <
typename Po
intT>
inline void
109 PCL_WARN (
"[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
110 if (!data_container_)
112 PCL_ERROR (
"[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
121 template <
typename Po
intT>
inline void
124 if (!data_container_)
126 PCL_ERROR (
"[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
136 if (!data_container_)
138 PCL_ERROR (
"[pcl::registration::%s::getInputSource] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
147 template <
typename Po
intT>
inline void
150 if (!data_container_)
152 PCL_ERROR (
"[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
165 template <
typename Po
intT>
inline void
167 bool force_no_recompute =
false)
170 (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
177 if (!data_container_)
179 PCL_ERROR (
"[pcl::registration::%s::getInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
188 template <
typename Po
intT,
typename NormalT>
inline void
191 if (!data_container_)
193 PCL_ERROR (
"[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
203 if (!data_container_)
205 PCL_ERROR (
"[pcl::registration::%s::getInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
214 template <
typename Po
intT,
typename NormalT>
inline void
217 if (!data_container_)
219 PCL_ERROR (
"[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
229 if (!data_container_)
231 PCL_ERROR (
"[pcl::registration::%s::getTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
245 getRemainingCorrespondences (*input_correspondences_, correspondences);
258 #include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>