Point Cloud Library (PCL)
1.3.1
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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_ */