correspondence_rejection.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_

#include <pcl/registration/correspondence_types.h>
#include <pcl/registration/correspondence_sorting.h>
#include <pcl/console/print.h>
#include <pcl/common/transforms.h>
#include <pcl/point_cloud.h>
#include <pcl/search/kdtree.h>

namespace pcl
{
  namespace registration
  {
    class CorrespondenceRejector
    {
      public:
        typedef boost::shared_ptr<CorrespondenceRejector> Ptr;
        typedef boost::shared_ptr<const CorrespondenceRejector> ConstPtr;

        CorrespondenceRejector () 
          : rejection_name_ ()
          , input_correspondences_ () 
        {}

        virtual ~CorrespondenceRejector () {}

        virtual inline void 
        setInputCorrespondences (const CorrespondencesConstPtr &correspondences) 
        { 
          input_correspondences_ = correspondences; 
        };

        inline CorrespondencesConstPtr 
        getInputCorrespondences () { return input_correspondences_; };

        inline void 
        getCorrespondences (pcl::Correspondences &correspondences)
        {
          if (!input_correspondences_ || (input_correspondences_->empty ()))
            return;

          applyRejection (correspondences);
        }

        virtual inline void 
        getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 
                                     pcl::Correspondences& remaining_correspondences) = 0;

        inline void 
        getRejectedQueryIndices (const pcl::Correspondences &correspondences, 
                                 std::vector<int>& indices)
        {
          if (!input_correspondences_ || input_correspondences_->empty ())
          {
            PCL_WARN ("[pcl::registration::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n", getClassName ().c_str ());
            return;
          }

          pcl::getRejectedQueryIndices(*input_correspondences_, correspondences, indices);
        }

        inline const std::string& 
        getClassName () const { return (rejection_name_); }

      protected:

        std::string rejection_name_;

        CorrespondencesConstPtr input_correspondences_;

        virtual void 
        applyRejection (Correspondences &correspondences) = 0;
    };

    class DataContainerInterface
    {
      public:
        virtual ~DataContainerInterface () {}
        virtual double getCorrespondenceScore (int index) = 0;
        virtual double getCorrespondenceScore (const pcl::Correspondence &) = 0;
     };

    template <typename PointT, typename NormalT = pcl::PointNormal>
    class DataContainer : public DataContainerInterface
    {
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::search::KdTree<PointT>::Ptr KdTreePtr;
      
      typedef pcl::PointCloud<NormalT> Normals;
      typedef typename Normals::Ptr NormalsPtr;
      typedef typename Normals::ConstPtr NormalsConstPtr;

      public:

        DataContainer (bool needs_normals = false) 
          : input_ ()
          , input_transformed_ ()
          , target_ ()
          , input_normals_ ()
          , input_normals_transformed_ ()
          , target_normals_ ()
          , tree_ (new pcl::search::KdTree<PointT>)
          , class_name_ ("DataContainer")
          , needs_normals_ (needs_normals)
          , target_cloud_updated_ (true)
          , force_no_recompute_ (false)
        {
        }
      
        virtual ~DataContainer () {}

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

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

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

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

        inline void 
        setInputTarget (const PointCloudConstPtr &target)
        {
          target_ = target;
          target_cloud_updated_ = true;
        }

        inline PointCloudConstPtr const 
        getInputTarget () { return (target_); }
        
        inline void
        setSearchMethodTarget (const KdTreePtr &tree, 
                               bool force_no_recompute = false) 
        { 
          tree_ = tree; 
          if (force_no_recompute)
          {
            force_no_recompute_ = true;
          }
          target_cloud_updated_ = true;
        }

        inline void
        setInputNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }

        inline NormalsConstPtr
        getInputNormals () { return (input_normals_); }

        inline void
        setTargetNormals (const NormalsConstPtr &normals) { target_normals_ = normals; }
        
        inline NormalsConstPtr
        getTargetNormals () { return (target_normals_); }

        inline double 
        getCorrespondenceScore (int index)
        {
          if ( target_cloud_updated_ && !force_no_recompute_ )
          {
            tree_->setInputCloud (target_);
          }
          std::vector<int> indices (1);
          std::vector<float> distances (1);
          if (tree_->nearestKSearch (input_->points[index], 1, indices, distances))
            return (distances[0]);
          else
            return (std::numeric_limits<double>::max ());
        }

        inline double 
        getCorrespondenceScore (const pcl::Correspondence &corr)
        {
          // Get the source and the target feature from the list
          const PointT &src = input_->points[corr.index_query];
          const PointT &tgt = target_->points[corr.index_match];

          return ((src.getVector4fMap () - tgt.getVector4fMap ()).squaredNorm ());
        }
        
        inline double
        getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr)
        {
          //assert ( (input_normals_->points.size () != 0) && (target_normals_->points.size () != 0) && "Normals are not set for the input and target point clouds");
          assert (input_normals_ && target_normals_ && "Normals are not set for the input and target point clouds");
          const NormalT &src = input_normals_->points[corr.index_query];
          const NormalT &tgt = target_normals_->points[corr.index_match];
          return (double ((src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2])));
        }

     private:
        PointCloudConstPtr input_;

        PointCloudPtr input_transformed_;

        PointCloudConstPtr target_;

        NormalsConstPtr input_normals_;

        NormalsPtr input_normals_transformed_;

        NormalsConstPtr target_normals_;

        KdTreePtr tree_;

        std::string class_name_;

        bool needs_normals_;

        bool target_cloud_updated_;

        bool force_no_recompute_;



        inline const std::string& 
        getClassName () const { return (class_name_); }
    };
  }
}

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

#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */