Point Cloud Library (PCL) 1.13.1
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correspondence_rejection_distance.h
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40
41#pragma once
42
43#include <pcl/registration/correspondence_rejection.h>
44#include <pcl/conversions.h> // for fromPCLPointCloud2
45#include <pcl/memory.h> // for static_pointer_cast
46
47namespace pcl {
48namespace registration {
49/**
50 * @b CorrespondenceRejectorDistance implements a simple correspondence
51 * rejection method based on thresholding the distances between the
52 * correspondences.
53 *
54 * \note If \ref setInputCloud and \ref setInputTarget are given, then the
55 * distances between correspondences will be estimated using the given XYZ
56 * data, and not read from the set of input correspondences.
57 *
58 * \author Dirk Holz, Radu B. Rusu
59 * \ingroup registration
60 */
62 using CorrespondenceRejector::getClassName;
63 using CorrespondenceRejector::input_correspondences_;
64 using CorrespondenceRejector::rejection_name_;
65
66public:
67 using Ptr = shared_ptr<CorrespondenceRejectorDistance>;
68 using ConstPtr = shared_ptr<const CorrespondenceRejectorDistance>;
69
70 /** \brief Empty constructor. */
71 CorrespondenceRejectorDistance() : max_distance_(std::numeric_limits<float>::max())
72 {
73 rejection_name_ = "CorrespondenceRejectorDistance";
74 }
75
76 /** \brief Empty destructor */
77 ~CorrespondenceRejectorDistance() override = default;
78
79 /** \brief Get a list of valid correspondences after rejection from the original set
80 * of correspondences. \param[in] original_correspondences the set of initial
81 * correspondences given \param[out] remaining_correspondences the resultant filtered
82 * set of remaining correspondences
83 */
84 void
85 getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
86 pcl::Correspondences& remaining_correspondences) override;
87
88 /** \brief Set the maximum distance used for thresholding in correspondence rejection.
89 * \param[in] distance Distance to be used as maximum distance between
90 * correspondences. Correspondences with larger distances are rejected. \note
91 * Internally, the distance will be stored squared.
92 */
93 virtual inline void
94 setMaximumDistance(float distance)
95 {
96 max_distance_ = distance * distance;
97 };
98
99 /** \brief Get the maximum distance used for thresholding in correspondence rejection.
100 */
101 inline float
103 {
104 return std::sqrt(max_distance_);
105 };
106
107 /** \brief Provide a source point cloud dataset (must contain XYZ
108 * data!), used to compute the correspondence distance.
109 * \param[in] cloud a cloud containing XYZ data
110 */
111 template <typename PointT>
112 inline void
114 {
115 if (!data_container_)
116 data_container_.reset(new DataContainer<PointT>);
117 static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputSource(cloud);
118 }
119
120 /** \brief Provide a target point cloud dataset (must contain XYZ
121 * data!), used to compute the correspondence distance.
122 * \param[in] target a cloud containing XYZ data
123 */
124 template <typename PointT>
125 inline void
127 {
128 if (!data_container_)
129 data_container_.reset(new DataContainer<PointT>);
130 static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputTarget(target);
131 }
132
133 /** \brief See if this rejector requires source points */
134 bool
135 requiresSourcePoints() const override
136 {
137 return (true);
138 }
139
140 /** \brief Blob method for setting the source cloud */
141 void
143 {
145 fromPCLPointCloud2(*cloud2, *cloud);
146 setInputSource<PointXYZ>(cloud);
147 }
148
149 /** \brief See if this rejector requires a target cloud */
150 bool
151 requiresTargetPoints() const override
152 {
153 return (true);
154 }
155
156 /** \brief Method for setting the target cloud */
157 void
159 {
161 fromPCLPointCloud2(*cloud2, *cloud);
162 setInputTarget<PointXYZ>(cloud);
163 }
164
165 /** \brief Provide a pointer to the search object used to find correspondences in
166 * the target cloud.
167 * \param[in] tree a pointer to the spatial search object.
168 * \param[in] force_no_recompute If set to true, this tree will NEVER be
169 * recomputed, regardless of calls to setInputTarget. Only use if you are
170 * confident that the tree will be set correctly.
171 */
172 template <typename PointT>
173 inline void
175 bool force_no_recompute = false)
176 {
177 static_pointer_cast<DataContainer<PointT>>(data_container_)
178 ->setSearchMethodTarget(tree, force_no_recompute);
179 }
180
181protected:
182 /** \brief Apply the rejection algorithm.
183 * \param[out] correspondences the set of resultant correspondences.
184 */
185 inline void
186 applyRejection(pcl::Correspondences& correspondences) override
187 {
188 getRemainingCorrespondences(*input_correspondences_, correspondences);
189 }
190
191 /** \brief The maximum distance threshold between two correspondent points in source
192 * <-> target. If the distance is larger than this threshold, the points will not be
193 * ignored in the alignment process.
194 */
196
198
199 /** \brief A pointer to the DataContainer object containing the input and target point
200 * clouds */
202};
203
204} // namespace registration
205} // namespace pcl
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
void setSearchMethodTarget(const typename pcl::search::KdTree< PointT >::Ptr &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud.
~CorrespondenceRejectorDistance() override=default
Empty destructor.
bool requiresSourcePoints() const override
See if this rejector requires source points.
float getMaximumDistance() const
Get the maximum distance used for thresholding in correspondence rejection.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
Get a list of valid correspondences after rejection from the original set of correspondences.
shared_ptr< const CorrespondenceRejectorDistance > ConstPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
CorrespondenceRejector represents the base class for correspondence rejection methods
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< DataContainerInterface > Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition kdtree.h:75
Defines functions, macros and traits for allocating and using memory.
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr