correspondence_rejection_median_distance.h
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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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:45