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 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ 00039 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ 00040 00041 #include <pcl/registration/correspondence_rejection.h> 00042 00043 namespace pcl 00044 { 00045 namespace registration 00046 { 00059 class CorrespondenceRejectorDistance: public CorrespondenceRejector 00060 { 00061 using CorrespondenceRejector::input_correspondences_; 00062 using CorrespondenceRejector::rejection_name_; 00063 using CorrespondenceRejector::getClassName; 00064 00065 public: 00066 00068 CorrespondenceRejectorDistance () : max_distance_(std::numeric_limits<float>::max ()), 00069 data_container_ () 00070 { 00071 rejection_name_ = "CorrespondenceRejectorDistance"; 00072 } 00073 00078 inline void 00079 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00080 pcl::Correspondences& remaining_correspondences); 00081 00087 virtual inline void 00088 setMaximumDistance (float distance) { max_distance_ = distance * distance; }; 00089 00091 inline float 00092 getMaximumDistance () { return std::sqrt (max_distance_); }; 00093 00098 template <typename PointT> inline void 00099 setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00100 { 00101 if (!data_container_) 00102 data_container_.reset (new DataContainer<PointT>); 00103 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputCloud (cloud); 00104 } 00105 00110 template <typename PointT> inline void 00111 setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target) 00112 { 00113 if (!data_container_) 00114 data_container_.reset (new DataContainer<PointT>); 00115 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target); 00116 } 00117 00118 protected: 00119 00123 inline void 00124 applyRejection (pcl::Correspondences &correspondences) 00125 { 00126 getRemainingCorrespondences (*input_correspondences_, correspondences); 00127 } 00128 00132 float max_distance_; 00133 00134 typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr; 00135 00137 DataContainerPtr data_container_; 00138 }; 00139 00140 } 00141 } 00142 00143 #include <pcl/registration/impl/correspondence_rejection_distance.hpp> 00144 00145 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ */