correspondence_rejection_surface_normal.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_

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

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

      public:

        CorrespondenceRejectorSurfaceNormal () : threshold_ (1.0), 
                                            data_container_ ()
        {
          rejection_name_ = "CorrespondenceRejectorSurfaceNormal";
        }

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

        inline void
        setThreshold (double threshold) { threshold_ = threshold; };

        inline double
        getThreshold () const { return threshold_; };

        template <typename PointT, typename NormalT> inline void 
        initializeDataContainer ()
        {
            data_container_.reset (new DataContainer<PointT, NormalT>);
        }
        template <typename PointT> inline void 
        setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &input)
        {
          assert (data_container_ && "Initilize the data container object by calling intializeDataContainer () before using this function");
          boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputCloud (input);
        }

        template <typename PointT> inline void 
        setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target)
        {
          assert (data_container_ && "Initilize the data container object by calling intializeDataContainer () before using this function");
          boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
        }

        template <typename PointT, typename NormalT> inline void 
        setInputNormals (const typename pcl::PointCloud<NormalT>::ConstPtr &normals)
        {
          assert (data_container_ && "Initilize the data container object by calling intializeDataContainer () before using this function");
          boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setInputNormals (normals);
        }

        template <typename PointT, typename NormalT> inline void 
        setTargetNormals (const typename pcl::PointCloud<NormalT>::ConstPtr &normals)
        {
          assert (data_container_ && "Initilize the data container object by calling intializeDataContainer () before using this function");
          boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setTargetNormals (normals);
        }

        template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
        getInputNormals () const { return boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getInputNormals (); }

        template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
        getTargetNormals () const { return boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getTargetNormals (); }

      protected:

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

        double threshold_;

        typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;

        DataContainerPtr data_container_;
    };
  }
}

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

#endif