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_MEDIAN_DISTANCE_H_ 00039 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_ 00040 00041 #include <pcl/registration/correspondence_rejection.h> 00042 #include <pcl/point_cloud.h> 00043 00044 namespace pcl 00045 { 00046 namespace registration 00047 { 00060 class CorrespondenceRejectorMedianDistance: public CorrespondenceRejector 00061 { 00062 using CorrespondenceRejector::input_correspondences_; 00063 using CorrespondenceRejector::rejection_name_; 00064 using CorrespondenceRejector::getClassName; 00065 00066 public: 00067 00069 CorrespondenceRejectorMedianDistance () : median_distance_(0), 00070 factor_(1.0), 00071 data_container_ () 00072 { 00073 rejection_name_ = "CorrespondenceRejectorMedianDistance"; 00074 } 00075 00080 inline void 00081 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00082 pcl::Correspondences& remaining_correspondences); 00083 00085 inline double 00086 getMedianDistance () const { return median_distance_; }; 00087 00092 template <typename PointT> inline void 00093 setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00094 { 00095 if (!data_container_) 00096 data_container_.reset (new DataContainer<PointT>); 00097 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputCloud (cloud); 00098 } 00099 00104 template <typename PointT> inline void 00105 setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target) 00106 { 00107 if (!data_container_) 00108 data_container_.reset (new DataContainer<PointT>); 00109 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target); 00110 } 00111 00116 inline void 00117 setMedianFactor (double factor) { factor_ = factor; }; 00118 00120 inline double 00121 getMedianFactor () const { return factor_; }; 00122 00123 protected: 00124 00128 inline void 00129 applyRejection (pcl::Correspondences &correspondences) 00130 { 00131 getRemainingCorrespondences (*input_correspondences_, correspondences); 00132 } 00133 00136 double median_distance_; 00137 00141 double factor_; 00142 00143 typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr; 00144 00146 DataContainerPtr data_container_; 00147 }; 00148 } 00149 } 00150 00151 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp> 00152 00153 #endif