correspondence_rejection_one_to_one.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
#include <pcl/registration/correspondence_rejection.h>
namespace pcl
{
namespace registration
{
/** \brief CorrespondenceRejectorOneToOne implements a correspondence
* rejection method based on eliminating duplicate match indices in
* the correspondences. Correspondences with the same match index are
* removed and only the one with smallest distance between query and
* match are kept. That is, considering match->query 1-m correspondences
* are removed leaving only 1-1 correspondences.
* \author Dirk Holz
* \ingroup registration
*/
class PCL_EXPORTS CorrespondenceRejectorOneToOne: public CorrespondenceRejector
{
using CorrespondenceRejector::input_correspondences_;
using CorrespondenceRejector::rejection_name_;
using CorrespondenceRejector::getClassName;
public:
typedef boost::shared_ptr<CorrespondenceRejectorOneToOne> Ptr;
typedef boost::shared_ptr<const CorrespondenceRejectorOneToOne> ConstPtr;
/** \brief Empty constructor. */
CorrespondenceRejectorOneToOne ()
{
rejection_name_ = "CorrespondenceRejectorOneToOne";
}
/** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
* \param[in] original_correspondences the set of initial correspondences given
* \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
*/
void
getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
pcl::Correspondences& remaining_correspondences);
protected:
/** \brief Apply the rejection algorithm.
* \param[out] correspondences the set of resultant correspondences.
*/
inline void
applyRejection (pcl::Correspondences &correspondences)
{
getRemainingCorrespondences (*input_correspondences_, correspondences);
}
};
}
}
#include <pcl/registration/impl/correspondence_rejection_one_to_one.hpp>
#endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_ONE_TO_ONE_H_
pcl::registration::CorrespondenceRejectorOneToOne::Ptr
boost::shared_ptr< CorrespondenceRejectorOneToOne > Ptr
Definition: correspondence_rejection_one_to_one.h:65
pcl::registration::CorrespondenceRejectorOneToOne::applyRejection
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
Definition: correspondence_rejection_one_to_one.h:87
pcl
Definition: cloud_iterator.h:46
pcl::registration::CorrespondenceRejectorOneToOne::CorrespondenceRejectorOneToOne
CorrespondenceRejectorOneToOne()
Empty constructor.
Definition: correspondence_rejection_one_to_one.h:69
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods ...
Definition: correspondence_rejection.h:59
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: correspondence_rejection.h:135
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition: correspondence_rejection.h:191
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition: correspondence_rejection.h:188
pcl::registration::CorrespondenceRejectorOneToOne::ConstPtr
boost::shared_ptr< const CorrespondenceRejectorOneToOne > ConstPtr
Definition: correspondence_rejection_one_to_one.h:66
pcl::registration::CorrespondenceRejectorOneToOne
CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating dupl...
Definition: correspondence_rejection_one_to_one.h:58