Point Cloud Library (PCL)  1.7.0
correspondence_rejection_distance.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
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  {
66 
67  public:
68  typedef boost::shared_ptr<CorrespondenceRejectorDistance> Ptr;
69  typedef boost::shared_ptr<const CorrespondenceRejectorDistance> ConstPtr;
70 
71  /** \brief Empty constructor. */
72  CorrespondenceRejectorDistance () : max_distance_(std::numeric_limits<float>::max ()),
73  data_container_ ()
74  {
75  rejection_name_ = "CorrespondenceRejectorDistance";
76  }
77 
78  /** \brief Empty destructor */
80 
81  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
82  * \param[in] original_correspondences the set of initial correspondences given
83  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
84  */
85  void
86  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
87  pcl::Correspondences& remaining_correspondences);
88 
89  /** \brief Set the maximum distance used for thresholding in correspondence rejection.
90  * \param[in] distance Distance to be used as maximum distance between correspondences.
91  * Correspondences with larger distances are rejected.
92  * \note Internally, the distance will be stored squared.
93  */
94  virtual inline void
95  setMaximumDistance (float distance) { max_distance_ = distance * distance; };
96 
97  /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
98  inline float
99  getMaximumDistance () { return std::sqrt (max_distance_); };
100 
101  /** \brief Provide a source point cloud dataset (must contain XYZ
102  * data!), used to compute the correspondence distance.
103  * \param[in] cloud a cloud containing XYZ data
104  */
105  template <typename PointT> inline void
107  {
108  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
109  if (!data_container_)
110  data_container_.reset (new DataContainer<PointT>);
111  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
112  }
113 
114  /** \brief Provide a source point cloud dataset (must contain XYZ
115  * data!), used to compute the correspondence distance.
116  * \param[in] cloud a cloud containing XYZ data
117  */
118  template <typename PointT> inline void
120  {
121  if (!data_container_)
122  data_container_.reset (new DataContainer<PointT>);
123  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
124  }
125 
126  /** \brief Provide a target point cloud dataset (must contain XYZ
127  * data!), used to compute the correspondence distance.
128  * \param[in] target a cloud containing XYZ data
129  */
130  template <typename PointT> inline void
132  {
133  if (!data_container_)
134  data_container_.reset (new DataContainer<PointT>);
135  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
136  }
137 
138  /** \brief Provide a pointer to the search object used to find correspondences in
139  * the target cloud.
140  * \param[in] tree a pointer to the spatial search object.
141  * \param[in] force_no_recompute If set to true, this tree will NEVER be
142  * recomputed, regardless of calls to setInputTarget. Only use if you are
143  * confident that the tree will be set correctly.
144  */
145  template <typename PointT> inline void
146  setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
147  bool force_no_recompute = false)
148  {
149  boost::static_pointer_cast< DataContainer<PointT> >
150  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
151  }
152 
153 
154  protected:
155 
156  /** \brief Apply the rejection algorithm.
157  * \param[out] correspondences the set of resultant correspondences.
158  */
159  inline void
161  {
162  getRemainingCorrespondences (*input_correspondences_, correspondences);
163  }
164 
165  /** \brief The maximum distance threshold between two correspondent points in source <-> target. If the
166  * distance is larger than this threshold, the points will not be ignored in the alignment process.
167  */
169 
170  typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
171 
172  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
174  };
175 
176  }
177 }
178 
179 #include <pcl/registration/impl/correspondence_rejection_distance.hpp>
180 
181 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ */