correspondence_rejection_var_trimmed.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_

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

#include <vector>

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

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

        CorrespondenceRejectorVarTrimmed () : 
          trimmed_distance_ (0), 
          factor_ (),
          min_ratio_ (0.05),
          max_ratio_ (0.95),
          lambda_ (0.95),
          data_container_ ()
        {
          rejection_name_ = "CorrespondenceRejectorVarTrimmed";
        }

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

        inline double
        getTrimmedDistance () const { return trimmed_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 double
        getTrimFactor () const { return factor_; }

        inline void
        setMinRatio (double ratio) { min_ratio_ = ratio; }

        inline double
        getMinRatio () const { return min_ratio_; }

        inline void
        setMaxRatio (double ratio) { max_ratio_ = ratio; }

        inline double
        getMaxRatio () const { return max_ratio_; }

      protected:

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

        double trimmed_distance_;

        double factor_;

        double min_ratio_;

        double max_ratio_;

        double lambda_;

        typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;

        DataContainerPtr data_container_;

      private:

        inline float optimizeInlierRatio (std::vector <double> &dists);
    };
  }
}

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

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_