Point Cloud Library (PCL)
1.3.1
|
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 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