correspondence_rejection_organized_boundary.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_

#include <pcl/registration/correspondence_rejection.h>


namespace pcl
{
  namespace registration
  {
    class PCL_EXPORTS CorrespondenceRejectionOrganizedBoundary : public CorrespondenceRejector
    {
    public:
      CorrespondenceRejectionOrganizedBoundary ()
        : boundary_nans_threshold_ (8)
        , window_size_ (5)
        , depth_step_threshold_ (0.025f)
        , data_container_ ()
      { }

      void
      getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
                                   pcl::Correspondences& remaining_correspondences);

      inline void
      setNumberOfBoundaryNaNs (int val)
      { boundary_nans_threshold_ = val; }


      template <typename PointT> inline void
      setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
      {
        if (!data_container_)
          data_container_.reset (new pcl::registration::DataContainer<PointT>);
        boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputSource (cloud);
      }

      template <typename PointT> inline void
      setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
      {
        if (!data_container_)
          data_container_.reset (new pcl::registration::DataContainer<PointT>);
        boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputTarget (cloud);
      }

      virtual bool
      updateSource (const Eigen::Matrix4d &)
      { return (true); }

    protected:

      inline void
      applyRejection (pcl::Correspondences &correspondences)
      { getRemainingCorrespondences (*input_correspondences_, correspondences); }

      int boundary_nans_threshold_;
      int window_size_;
      float depth_step_threshold_;

      typedef boost::shared_ptr<pcl::registration::DataContainerInterface> DataContainerPtr;
      DataContainerPtr data_container_;
    };
  }
}

#include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>


#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_H_ */