correspondence_rejection_trimmed.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_

#include <pcl/registration/correspondence_rejection.h>

namespace pcl
{
  namespace registration
  {
    class PCL_EXPORTS CorrespondenceRejectorTrimmed: public CorrespondenceRejector
    {
      using CorrespondenceRejector::input_correspondences_;
      using CorrespondenceRejector::rejection_name_;
      using CorrespondenceRejector::getClassName;

      public:
        typedef boost::shared_ptr<CorrespondenceRejectorTrimmed> Ptr;
        typedef boost::shared_ptr<const CorrespondenceRejectorTrimmed> ConstPtr;

        CorrespondenceRejectorTrimmed () : 
          overlap_ratio_ (0.5f),
          nr_min_correspondences_ (0)
        {
          rejection_name_ = "CorrespondenceRejectorTrimmed";
        }

        virtual ~CorrespondenceRejectorTrimmed () {}

        virtual inline void 
        setOverlapRatio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };

        inline float 
        getOverlapRatio () { return overlap_ratio_; };

        inline void 
        setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };

        inline unsigned int 
        getMinCorrespondences () { return nr_min_correspondences_; };


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

      protected:

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

        float overlap_ratio_;

        unsigned int nr_min_correspondences_;
    };

  }
}

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

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_