correspondence_rejection_sample_consensus.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_

#include <pcl/registration/correspondence_rejection.h>

#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_registration.h>
#include <pcl/common/transforms.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointT>
    class CorrespondenceRejectorSampleConsensus: public CorrespondenceRejector
    {
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        using CorrespondenceRejector::input_correspondences_;
        using CorrespondenceRejector::rejection_name_;
        using CorrespondenceRejector::getClassName;

        typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus> Ptr;
        typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus> ConstPtr;

        CorrespondenceRejectorSampleConsensus () 
          : inlier_threshold_ (0.05)
          , max_iterations_ (1000) // std::numeric_limits<int>::max ()
          , input_ ()
          , input_transformed_ ()
          , target_ ()
          , best_transformation_ ()
          , refine_ (false)
        {
          rejection_name_ = "CorrespondenceRejectorSampleConsensus";
        }

        virtual ~CorrespondenceRejectorSampleConsensus () {}

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

        PCL_DEPRECATED (virtual void setInputCloud (const PointCloudConstPtr &cloud), 
            "[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");

        PCL_DEPRECATED (PointCloudConstPtr const getInputCloud (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");

        virtual inline void 
        setInputSource (const PointCloudConstPtr &cloud) 
        { 
          input_ = cloud; 
        }

        inline PointCloudConstPtr const 
        getInputSource () { return (input_); }

        PCL_DEPRECATED (virtual void setTargetCloud (const PointCloudConstPtr &cloud), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.");

        virtual inline void 
        setInputTarget (const PointCloudConstPtr &cloud) { target_ = cloud; }

        inline PointCloudConstPtr const 
        getInputTarget () { return (target_ ); }

        inline void 
        setInlierThreshold (double threshold) { inlier_threshold_ = threshold; };

        inline double 
        getInlierThreshold() { return inlier_threshold_; };

        PCL_DEPRECATED (void setMaxIterations (int max_iterations), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.");

        inline void 
        setMaximumIterations (int max_iterations) { max_iterations_ = std::max (max_iterations, 0); }

        PCL_DEPRECATED (int getMaxIterations (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.");

        inline int 
        getMaximumIterations () { return (max_iterations_); }

        inline Eigen::Matrix4f 
        getBestTransformation () { return best_transformation_; };

        inline void
        setRefineModel (const bool refine)
        {
          refine_ = refine;
        }

        inline bool
        getRefineModel () const
        {
          return (refine_);
        }
      protected:

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

        double inlier_threshold_;

        int max_iterations_;

        PointCloudConstPtr input_;
        PointCloudPtr input_transformed_;
        PointCloudConstPtr target_;

        Eigen::Matrix4f best_transformation_;

        bool refine_;
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

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

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_