knn_correspondence_generator.hpp

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#pragma once
 
#include <cpp-toolbox/pcl/correspondence/base_correspondence_generator.hpp>
#include <cpp-toolbox/pcl/knn/base_knn.hpp>
#include <unordered_map>
#include <algorithm>
 
namespace toolbox::pcl
{
 
template<typename DataType, typename Signature, typename KNN>
class knn_correspondence_generator_t 
    : public base_correspondence_generator_t<
        knn_correspondence_generator_t<DataType, Signature, KNN>,
        DataType, Signature>
{
public:
  using base_type = base_correspondence_generator_t<
      knn_correspondence_generator_t<DataType, Signature, KNN>,
      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 set_knn(std::shared_ptr<KNN> knn) { m_knn = knn; }
 
  std::shared_ptr<KNN> get_knn() const { return m_knn; }
 
  void compute_impl(std::vector<correspondence_t>& correspondences);
 
private:
  void build_knn_dataset();
 
  void find_candidates_for_descriptor(std::size_t src_idx, 
                                     std::vector<correspondence_t>& candidates) const;
 
  void perform_mutual_verification(const std::vector<correspondence_t>& forward_corrs,
                                  std::vector<correspondence_t>& verified_corrs);
 
  std::shared_ptr<KNN> m_knn;
};
 
}  // namespace toolbox::pcl
 
#include <cpp-toolbox/pcl/correspondence/impl/knn_correspondence_generator_impl.hpp>