correspondence_rejection_median_distance.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_

#include <pcl/registration/correspondence_rejection.h>
#include <pcl/point_cloud.h>

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

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

        CorrespondenceRejectorMedianDistance () 
          : median_distance_ (0)
          , factor_ (1.0)
          , data_container_ ()
        {
          rejection_name_ = "CorrespondenceRejectorMedianDistance";
        }

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

        inline double
        getMedianDistance () const { return (median_distance_); };

        template <typename PointT> inline void 
        setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
        {
          if (!data_container_)
            data_container_.reset (new DataContainer<PointT>);
          boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
        }

        template <typename PointT> inline void 
        setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
        {
          PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
          if (!data_container_)
            data_container_.reset (new DataContainer<PointT>);
          boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
        }

        template <typename PointT> inline void 
        setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target)
        {
          if (!data_container_)
            data_container_.reset (new DataContainer<PointT>);
          boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
        }

        template <typename PointT> inline void
        setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree, 
                               bool force_no_recompute = false) 
        { 
          boost::static_pointer_cast< DataContainer<PointT> > 
            (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
        }

        inline void
        setMedianFactor (double factor) { factor_ = factor; };

        inline double
        getMedianFactor () const { return factor_; };

      protected:

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

        double median_distance_;

        double factor_;

        typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;

        DataContainerPtr data_container_;
    };
  }
}

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

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_