41 #include <pcl/registration/correspondence_rejection.h>
42 #include <pcl/point_cloud.h>
46 namespace registration
63 template <
typename SourceT,
typename TargetT>
71 using Ptr = shared_ptr<CorrespondenceRejectorPoly<SourceT, TargetT> >;
72 using ConstPtr = shared_ptr<const CorrespondenceRejectorPoly<SourceT, TargetT> >;
86 , similarity_threshold_ (0.75f)
87 , similarity_threshold_squared_ (0.75f * 0.75f)
89 rejection_name_ =
"CorrespondenceRejectorPoly";
112 PCL_DEPRECATED(1, 12,
"pcl::registration::CorrespondenceRejectorPoly::setInputCloud is deprecated. Please use setInputSource instead")
139 setInputSource (cloud);
153 setInputTarget (cloud);
162 cardinality_ = cardinality;
171 return (cardinality_);
181 similarity_threshold_ = similarity_threshold;
182 similarity_threshold_squared_ = similarity_threshold * similarity_threshold;
191 return (similarity_threshold_);
200 iterations_ = iterations;
209 return (iterations_);
220 if (cardinality_ == 2)
222 return (thresholdEdgeLength (corr[ idx[0] ].index_query, corr[ idx[1] ].index_query,
223 corr[ idx[0] ].index_match, corr[ idx[1] ].index_match,
227 for (
int i = 0; i < cardinality_; ++i)
229 if (!thresholdEdgeLength (corr[ idx[i] ].index_query, corr[ idx[(i+1)%cardinality_] ].index_query,
230 corr[ idx[i] ].index_match, corr[ idx[(i+1)%cardinality_] ].index_match,
231 similarity_threshold_squared_))
245 thresholdPolygon (
const std::vector<int>& source_indices,
const std::vector<int>& target_indices)
249 std::vector<int> idx (cardinality_);
250 for (
int i = 0; i < cardinality_; ++i)
252 corr[i].index_query = source_indices[i];
253 corr[i].index_match = target_indices[i];
257 return (thresholdPolygon (corr, idx));
267 getRemainingCorrespondences (*input_correspondences_, correspondences);
276 inline std::vector<int>
280 std::vector<bool> sampled (n,
false);
283 std::vector<int> result;
288 const int idx = (std::rand () % n);
296 result.push_back (idx);
312 const float dx = p2.x - p1.x;
313 const float dy = p2.y - p1.y;
314 const float dz = p2.z - p1.z;
316 return (dx*dx + dy*dy + dz*dz);
335 const float dist_src = computeSquaredDistance ((*input_)[index_query_1], (*input_)[index_query_2]);
337 const float dist_tgt = computeSquaredDistance ((*target_)[index_match_1], (*target_)[index_match_2]);
339 const float edge_sim = (dist_src < dist_tgt ? dist_src / dist_tgt : dist_tgt / dist_src);
341 return (edge_sim >= simsq);
353 computeHistogram (
const std::vector<float>& data,
float lower,
float upper,
int bins);
360 findThresholdOtsu (
const std::vector<int>& histogram);
383 #include <pcl/registration/impl/correspondence_rejection_poly.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
CorrespondenceRejector represents the base class for correspondence rejection methods
shared_ptr< const CorrespondenceRejector > ConstPtr
CorrespondencesConstPtr input_correspondences_
The input correspondences.
const std::string & getClassName() const
Get a string representation of the name of this class.
shared_ptr< CorrespondenceRejector > Ptr
std::string rejection_name_
The name of the rejection method.
CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and p...
float similarity_threshold_squared_
Squared value if similarity_threshold_, only for internal use.
bool thresholdPolygon(const pcl::Correspondences &corr, const std::vector< int > &idx)
Polygonal rejection of a single polygon, indexed by a subset of correspondences.
typename PointCloudSource::Ptr PointCloudSourcePtr
float similarity_threshold_
Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect ma...
float computeSquaredDistance(const SourceT &p1, const TargetT &p2)
Squared Euclidean distance between two points using the members x, y and z.
int getIterations()
Get the number of iterations.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
bool thresholdPolygon(const std::vector< int > &source_indices, const std::vector< int > &target_indices)
Polygonal rejection of a single polygon, indexed by two point index vectors.
PointCloudSourceConstPtr input_
The input point cloud dataset.
float getSimilarityThreshold()
Get the similarity threshold between edge lengths.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
void setCardinality(int cardinality)
Set the polygon cardinality.
void setSimilarityThreshold(float similarity_threshold)
Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match.
void setIterations(int iterations)
Set the number of iterations.
bool thresholdEdgeLength(int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)
Edge length similarity thresholding.
CorrespondenceRejectorPoly()
Empty constructor.
typename PointCloudTarget::Ptr PointCloudTargetPtr
PointCloudTargetConstPtr target_
The input point cloud dataset target.
void setInputTarget(const PointCloudTargetConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
void setInputSource(const PointCloudSourceConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
std::vector< int > getUniqueRandomIndices(int n, int k)
Get k unique random indices in range {0,...,n-1} (sampling without replacement)
bool requiresSourcePoints() const override
See if this rejector requires source points.
int iterations_
Number of iterations to run.
int getCardinality()
Get the polygon cardinality.
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
int cardinality_
The polygon cardinality used during rejection.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr