brute_force_correspondence_generator.hpp

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#pragma once
 
#include <cpp-toolbox/pcl/correspondence/base_correspondence_generator.hpp>
#include <algorithm>
#include <limits>
 
namespace toolbox::pcl
{
 
template<typename DataType, typename Signature>
class brute_force_correspondence_generator_t 
    : public base_correspondence_generator_t<
        brute_force_correspondence_generator_t<DataType, Signature>,
        DataType, Signature>
{
public:
  using base_type = base_correspondence_generator_t<
      brute_force_correspondence_generator_t<DataType, Signature>,
      DataType, Signature>;
  using typename base_type::point_cloud;
  using typename base_type::point_cloud_ptr;
  using typename base_type::signatures_ptr;
  using typename base_type::keypoint_indices_ptr;
 
  void enable_parallel(bool enable) { m_enable_parallel = enable; }
 
  bool is_parallel_enabled() const { return m_enable_parallel; }
 
  void compute_impl(std::vector<correspondence_t>& correspondences);
 
private:
  void find_candidates_for_descriptor_serial(std::size_t src_idx, 
                                            std::vector<correspondence_t>& candidates) const;
 
  void compute_all_candidates_parallel(std::vector<correspondence_t>& all_candidates);
 
  void perform_mutual_verification(const std::vector<correspondence_t>& forward_corrs,
                                  std::vector<correspondence_t>& verified_corrs);
 
  bool m_enable_parallel = false;  
};
 
}  // namespace toolbox::pcl
 
#include <cpp-toolbox/pcl/correspondence/impl/brute_force_correspondence_generator_impl.hpp>