00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * Copyright (c) Alexandru-Eugen Ichim 00008 * 00009 * All rights reserved. 00010 * 00011 * Redistribution and use in source and binary forms, with or without 00012 * modification, are permitted provided that the following conditions 00013 * are met: 00014 * 00015 * * Redistributions of source code must retain the above copyright 00016 * notice, this list of conditions and the following disclaimer. 00017 * * Redistributions in binary form must reproduce the above 00018 * copyright notice, this list of conditions and the following 00019 * disclaimer in the documentation and/or other materials provided 00020 * with the distribution. 00021 * * Neither the name of the copyright holder(s) nor the names of its 00022 * contributors may be used to endorse or promote products derived 00023 * from this software without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00026 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00027 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00028 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00029 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00030 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00031 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00032 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00033 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00034 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00035 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00036 * POSSIBILITY OF SUCH DAMAGE. 00037 */ 00038 00039 #include <pcl/registration/correspondence_rejection_organized_boundary.h> 00040 00042 void 00043 pcl::registration::CorrespondenceRejectionOrganizedBoundary::getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00044 pcl::Correspondences& remaining_correspondences) 00045 { 00046 pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud = boost::static_pointer_cast<pcl::registration::DataContainer<pcl::PointXYZ, pcl::PointNormal> >(data_container_)->getInputTarget (); 00047 00048 if (!cloud->isOrganized ()) 00049 { 00050 PCL_ERROR ("[pcl::registration::CorrespondenceRejectionOrganizedBoundary::getRemainingCorrespondences] The target cloud is not organized.\n"); 00051 remaining_correspondences.clear (); 00052 return; 00053 } 00054 00055 remaining_correspondences.reserve (original_correspondences.size ()); 00056 for (size_t c_i = 0; c_i < original_correspondences.size (); ++c_i) 00057 { 00059 int x = original_correspondences[c_i].index_match % cloud->width; 00060 int y = original_correspondences[c_i].index_match / cloud->width; 00061 00062 int nan_count_tgt = 0; 00063 for (int x_d = -window_size_/2; x_d <= window_size_/2; ++x_d) 00064 for (int y_d = -window_size_/2; y_d <= window_size_/2; ++y_d) 00065 if (x + x_d >= 0 && x + x_d < cloud->width && 00066 y + y_d >= 0 && y + y_d < cloud->height) 00067 { 00068 if (!pcl_isfinite ((*cloud)(x + x_d, y + y_d).z) || 00069 fabs ((*cloud)(x, y).z - (*cloud)(x + x_d, y + y_d).z) > depth_step_threshold_) 00070 nan_count_tgt ++; 00071 } 00072 00073 if (nan_count_tgt >= boundary_nans_threshold_) 00074 continue; 00075 00076 00078 remaining_correspondences.push_back (original_correspondences[c_i]); 00079 } 00080 }