00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_ 00041 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_ 00042 00043 #include <pcl/registration/correspondence_rejection.h> 00044 00045 namespace pcl 00046 { 00047 namespace registration 00048 { 00058 class PCL_EXPORTS CorrespondenceRejectorOneToOne: public CorrespondenceRejector 00059 { 00060 using CorrespondenceRejector::input_correspondences_; 00061 using CorrespondenceRejector::rejection_name_; 00062 using CorrespondenceRejector::getClassName; 00063 00064 public: 00065 typedef boost::shared_ptr<CorrespondenceRejectorOneToOne> Ptr; 00066 typedef boost::shared_ptr<const CorrespondenceRejectorOneToOne> ConstPtr; 00067 00069 CorrespondenceRejectorOneToOne () 00070 { 00071 rejection_name_ = "CorrespondenceRejectorOneToOne"; 00072 } 00073 00078 void 00079 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00080 pcl::Correspondences& remaining_correspondences); 00081 00082 protected: 00086 inline void 00087 applyRejection (pcl::Correspondences &correspondences) 00088 { 00089 getRemainingCorrespondences (*input_correspondences_, correspondences); 00090 } 00091 }; 00092 00093 } 00094 } 00095 00096 #include <pcl/registration/impl/correspondence_rejection_one_to_one.hpp> 00097 00098 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_