rejector.hpp

Go to the documentation of this file.

// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace small_gicp {
 
struct NullRejector {
  template <typename TargetPointCloud, typename SourcePointCloud>
  bool operator()(const TargetPointCloud& target, const SourcePointCloud& source, const Eigen::Isometry3d& T, size_t target_index, size_t source_index, double sq_dist) const {
    return false;
  }
};
 
struct DistanceRejector {
  DistanceRejector() : max_dist_sq(1.0) {}
 
  template <typename TargetPointCloud, typename SourcePointCloud>
  bool operator()(const TargetPointCloud& target, const SourcePointCloud& source, const Eigen::Isometry3d& T, size_t target_index, size_t source_index, double sq_dist) const {
    return sq_dist > max_dist_sq;
  }
 
  double max_dist_sq;  
};
 
}  // namespace small_gicp