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/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>

namespace pcl
{
  namespace registration
  {
    class CorrespondenceRejector
    {
      public:
        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::%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;
    };

    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 typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
      typedef typename pcl::KdTree<PointT>::Ptr KdTreePtr;
      typedef typename pcl::PointCloud<NormalT>::ConstPtr NormalsPtr;

      public:

      DataContainer () : input_ (), target_ ()
      {
        tree_.reset (new pcl::KdTreeFLANN<PointT>);
      }

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

      inline void 
        setInputTarget (const PointCloudConstPtr &target)
        {
          target_ = target;
          tree_->setInputCloud (target_);
        }

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

      inline void
      setTargetNormals (const NormalsPtr &normals) { target_normals_ = normals; }
      
      inline NormalsPtr
      getInputNormals () { return input_normals_; }

      inline NormalsPtr
      getTargetNormals () { return target_normals_; }

      inline double 
        getCorrespondenceScore (int index)
        {
          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 ());
        }
      
      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];
        double score = (src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2]);
        return score;
      }
      private:

        PointCloudConstPtr input_;

        PointCloudConstPtr target_;

        NormalsPtr input_normals_;

        NormalsPtr target_normals_;

        KdTreePtr tree_;
    };
  }
}

#endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */