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>

namespace pcl
{
  namespace registration
  {
    class CorrespondenceRejector /*: public PCLBase<PointSource> */
    {
      public:

        CorrespondenceRejector () : input_correspondences_() {};

        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::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n", getClassName ().c_str ());
            return;
          }

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

      protected:

        std::string rejection_name_;

        CorrespondencesConstPtr input_correspondences_;

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

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

  }
}

#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */