correspondence_grouping.h

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#ifndef PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_
#define PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_

#include <pcl/pcl_base.h>
#include <pcl/correspondence.h>
#include <pcl/console/print.h>

namespace pcl
{
  template <typename PointModelT, typename PointSceneT>
  class CorrespondenceGrouping : public PCLBase<PointModelT>
  {
    public:
      typedef pcl::PointCloud<PointSceneT> SceneCloud;
      typedef typename SceneCloud::Ptr SceneCloudPtr;
      typedef typename SceneCloud::ConstPtr SceneCloudConstPtr;

      CorrespondenceGrouping () : scene_ (), model_scene_corrs_ () {}

      virtual ~CorrespondenceGrouping() 
      {
        scene_.reset ();
        model_scene_corrs_.reset ();
      }

      virtual inline void
      setSceneCloud (const SceneCloudConstPtr &scene)
      {
        scene_ = scene;
      }

      inline SceneCloudConstPtr
      getSceneCloud () const
      {
        return (scene_);
      }

      virtual inline void
      setModelSceneCorrespondences (const CorrespondencesConstPtr &corrs)
      {
        model_scene_corrs_ = corrs;
      }

      inline CorrespondencesConstPtr
      getModelSceneCorrespondences () const
      {
        return (model_scene_corrs_);
      }

      inline std::vector<double>
      getCharacteristicScales () const
      {
        return (corr_group_scale_);
      }

      void
      cluster (std::vector<Correspondences> &clustered_corrs);

    protected:
      SceneCloudConstPtr scene_;

      using PCLBase<PointModelT>::input_;

      CorrespondencesConstPtr model_scene_corrs_;

          std::vector <double> corr_group_scale_;

      virtual void
      clusterCorrespondences (std::vector<Correspondences> &clustered_corrs) = 0;

      inline bool
      initCompute ()
      {
        if (!PCLBase<PointModelT>::initCompute ())
        {
          return (false);
        }

        if (!scene_)
        {
          PCL_ERROR ("[initCompute] Scene not set.\n");
          return (false);
        }

        if (!input_)
        {
          PCL_ERROR ("[initCompute] Input not set.\n");
          return (false);
        }

        if (!model_scene_corrs_)
        {
          PCL_ERROR ("[initCompute] Model-Scene Correspondences not set.\n");
          return (false);
        }

        return (true);
      }

      inline bool
      deinitCompute ()
      {
        return (true);
      }

  };
}

#include <pcl/recognition/impl/cg/correspondence_grouping.hpp>

#endif // PCL_RECOGNITION_CORRESPONDENCE_GROUPING_H_