Point Cloud Library (PCL)  1.3.1
correspondence_rejection.h
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00001 /*
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00036 
00037 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
00038 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
00039 
00040 #include <pcl/registration/correspondence_types.h>
00041 #include <pcl/registration/correspondence_sorting.h>
00042 #include <pcl/console/print.h>
00043 
00044 namespace pcl
00045 {
00046   namespace registration
00047   {
00052     class CorrespondenceRejector /*: public PCLBase<PointSource> */
00053     {
00054       public:
00055 
00057         CorrespondenceRejector () : input_correspondences_() {};
00058 
00062         virtual inline void 
00063         setInputCorrespondences (const CorrespondencesConstPtr &correspondences) 
00064         { 
00065           input_correspondences_ = correspondences; 
00066         };
00067 
00071         inline CorrespondencesConstPtr 
00072         getInputCorrespondences () { return input_correspondences_; };
00073 
00077         inline void 
00078         getCorrespondences (pcl::Correspondences &correspondences)
00079         {
00080           if (!input_correspondences_ || (input_correspondences_->empty ()))
00081             return;
00082 
00083           applyRejection (correspondences);
00084         }
00085 
00086 
00087 
00088 
00096         virtual inline void 
00097         getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 
00098                                      pcl::Correspondences& remaining_correspondences) = 0;
00099 
00106         inline static bool 
00107         compareCorrespondencesDistance (const pcl::Correspondence &a, 
00108                                         const pcl::Correspondence &b) 
00109         { 
00110           return (a.distance < b.distance); 
00111         }
00112 
00122         inline void 
00123         getRejectedQueryIndices (const pcl::Correspondences &correspondences, 
00124                                  std::vector<int>& indices)
00125         {
00126           if (!input_correspondences_ || input_correspondences_->empty ())
00127           {
00128             PCL_WARN ("[pcl::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n", getClassName ().c_str ());
00129             return;
00130           }
00131 
00132           pcl::getRejectedQueryIndices(*input_correspondences_, correspondences, indices);
00133         }
00134 
00135 
00136 
00137       protected:
00138 
00140         std::string rejection_name_;
00141 
00143         CorrespondencesConstPtr input_correspondences_;
00144 
00146         inline const std::string& 
00147         getClassName () const { return (rejection_name_); }
00148 
00150         virtual void 
00151         applyRejection (Correspondences &correspondences) = 0;
00152     };
00153 
00154   }
00155 }
00156 
00157 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */
00158 
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