correspondence_rejection_trimmed.h
Go to the documentation of this file.
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_TRIMMED_H_
00039 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
00040 
00041 #include <pcl/registration/correspondence_rejection.h>
00042 
00043 namespace pcl
00044 {
00045   namespace registration
00046   {
00061     class CorrespondenceRejectorTrimmed: public CorrespondenceRejector
00062     {
00063       using CorrespondenceRejector::input_correspondences_;
00064       using CorrespondenceRejector::rejection_name_;
00065       using CorrespondenceRejector::getClassName;
00066 
00067       public:
00068 
00070         CorrespondenceRejectorTrimmed () : 
00071           overlap_ratio_ (0.5f),
00072           nr_min_correspondences_ (0)
00073         {
00074           rejection_name_ = "CorrespondenceRejectorTrimmed";
00075         }
00076 
00078         virtual ~CorrespondenceRejectorTrimmed () {}
00079 
00085         virtual inline void 
00086         setOverlapRadio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };
00087 
00089         inline float 
00090         getOverlapRadio () { return overlap_ratio_; };
00091 
00098         inline void 
00099         setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };
00100 
00102         inline unsigned int 
00103         getMinCorrespondences () { return nr_min_correspondences_; };
00104 
00105 
00110         inline void
00111         getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
00112                                      pcl::Correspondences& remaining_correspondences);
00113 
00114 
00115       protected:
00116 
00120         inline void 
00121         applyRejection (pcl::Correspondences &correspondences)
00122         {
00123           getRemainingCorrespondences (*input_correspondences_, correspondences);
00124         }
00125 
00127         float overlap_ratio_;
00128 
00130         unsigned int nr_min_correspondences_;
00131     };
00132 
00133   }
00134 }
00135 
00136 #include <pcl/registration/impl/correspondence_rejection_trimmed.hpp>
00137 
00138 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:46