Point Cloud Library (PCL)  1.3.1
correspondence_rejection_trimmed.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  *
00035  */
00036 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
00037 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
00038 
00039 #include <pcl/registration/correspondence_rejection.h>
00040 
00041 namespace pcl
00042 {
00043   namespace registration
00044   {
00060     class CorrespondenceRejectorTrimmed: public CorrespondenceRejector
00061     {
00062       using CorrespondenceRejector::input_correspondences_;
00063       using CorrespondenceRejector::rejection_name_;
00064       using CorrespondenceRejector::getClassName;
00065 
00066       public:
00067 
00069         CorrespondenceRejectorTrimmed () : overlap_ratio_(1.0f)
00070         {
00071           rejection_name_ = "CorrespondenceRejectorTrimmed";
00072           overlap_ratio_ = 0.5;
00073           nr_min_correspondences_ = 0;
00074         }
00075 
00081         virtual inline void 
00082         setOverlapRadio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };
00083 
00085         inline float 
00086         getOverlapRadio () { return overlap_ratio_; };
00087 
00093         inline void 
00094         setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };
00095 
00097         inline unsigned int 
00098         getMinCorrespondences () { return nr_min_correspondences_; };
00099 
00100 
00101 
00106         inline void
00107         getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
00108                                      pcl::Correspondences& remaining_correspondences);
00109 
00110 
00111       protected:
00112 
00113         void 
00114         applyRejection (pcl::Correspondences &correspondences);
00115 
00117         float overlap_ratio_;
00118 
00120         unsigned int nr_min_correspondences_;
00121     };
00122 
00123   }
00124 }
00125 
00126 #include "pcl/registration/impl/correspondence_rejection_trimmed.hpp"
00127 
00128 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_ */
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines