Point Cloud Library (PCL)  1.7.0
correspondence_rejection_sample_consensus.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 
45 #include <pcl/sample_consensus/ransac.h>
46 #include <pcl/sample_consensus/sac_model_registration.h>
47 #include <pcl/common/transforms.h>
48 
49 namespace pcl
50 {
51  namespace registration
52  {
53  /** \brief CorrespondenceRejectorSampleConsensus implements a correspondence rejection
54  * using Random Sample Consensus to identify inliers (and reject outliers)
55  * \author Dirk Holz
56  * \ingroup registration
57  */
58  template <typename PointT>
60  {
62  typedef typename PointCloud::Ptr PointCloudPtr;
63  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
64 
65  public:
69 
70  typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus> Ptr;
71  typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus> ConstPtr;
72 
73  /** \brief Empty constructor. Sets the inlier threshold to 5cm (0.05m),
74  * and the maximum number of iterations to 1000.
75  */
77  : inlier_threshold_ (0.05)
78  , max_iterations_ (1000) // std::numeric_limits<int>::max ()
79  , input_ ()
81  , target_ ()
83  , refine_ (false)
84  {
85  rejection_name_ = "CorrespondenceRejectorSampleConsensus";
86  }
87 
88  /** \brief Empty destructor. */
90 
91  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
92  * \param[in] original_correspondences the set of initial correspondences given
93  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
94  */
95  inline void
96  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
97  pcl::Correspondences& remaining_correspondences);
98 
99  /** \brief Provide a source point cloud dataset (must contain XYZ data!)
100  * \param[in] cloud a cloud containing XYZ data
101  */
102  PCL_DEPRECATED (virtual void setInputCloud (const PointCloudConstPtr &cloud),
103  "[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
104 
105  /** \brief Get a pointer to the input point cloud dataset target. */
106  PCL_DEPRECATED (PointCloudConstPtr const getInputCloud (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
107 
108  /** \brief Provide a source point cloud dataset (must contain XYZ data!)
109  * \param[in] cloud a cloud containing XYZ data
110  */
111  virtual inline void
112  setInputSource (const PointCloudConstPtr &cloud)
113  {
114  input_ = cloud;
115  }
116 
117  /** \brief Get a pointer to the input point cloud dataset target. */
118  inline PointCloudConstPtr const
119  getInputSource () { return (input_); }
120 
121  /** \brief Provide a target point cloud dataset (must contain XYZ data!)
122  * \param[in] cloud a cloud containing XYZ data
123  */
124  PCL_DEPRECATED (virtual void setTargetCloud (const PointCloudConstPtr &cloud), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.");
125 
126  /** \brief Provide a target point cloud dataset (must contain XYZ data!)
127  * \param[in] cloud a cloud containing XYZ data
128  */
129  virtual inline void
130  setInputTarget (const PointCloudConstPtr &cloud) { target_ = cloud; }
131 
132  /** \brief Get a pointer to the input point cloud dataset target. */
133  inline PointCloudConstPtr const
134  getInputTarget () { return (target_ ); }
135 
136  /** \brief Set the maximum distance between corresponding points.
137  * Correspondences with distances below the threshold are considered as inliers.
138  * \param[in] threshold Distance threshold in the same dimension as source and target data sets.
139  */
140  inline void
141  setInlierThreshold (double threshold) { inlier_threshold_ = threshold; };
142 
143  /** \brief Get the maximum distance between corresponding points.
144  * \return Distance threshold in the same dimension as source and target data sets.
145  */
146  inline double
148 
149  /** \brief Set the maximum number of iterations.
150  * \param[in] max_iterations Maximum number if iterations to run
151  */
152  PCL_DEPRECATED (void setMaxIterations (int max_iterations), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.");
153 
154  /** \brief Set the maximum number of iterations.
155  * \param[in] max_iterations Maximum number if iterations to run
156  */
157  inline void
158  setMaximumIterations (int max_iterations) { max_iterations_ = std::max (max_iterations, 0); }
159 
160  /** \brief Get the maximum number of iterations.
161  * \return max_iterations Maximum number if iterations to run
162  */
163  PCL_DEPRECATED (int getMaxIterations (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.");
164 
165  /** \brief Get the maximum number of iterations.
166  * \return max_iterations Maximum number if iterations to run
167  */
168  inline int
170 
171  /** \brief Get the best transformation after RANSAC rejection.
172  * \return The homogeneous 4x4 transformation yielding the largest number of inliers.
173  */
174  inline Eigen::Matrix4f
176 
177  /** \brief Specify whether the model should be refined internally using the variance of the inliers
178  * \param[in] refine true if the model should be refined, false otherwise
179  */
180  inline void
181  setRefineModel (const bool refine)
182  {
183  refine_ = refine;
184  }
185 
186  /** \brief Get the internal refine parameter value as set by the user using setRefineModel */
187  inline bool
188  getRefineModel () const
189  {
190  return (refine_);
191  }
192  protected:
193 
194  /** \brief Apply the rejection algorithm.
195  * \param[out] correspondences the set of resultant correspondences.
196  */
197  inline void
199  {
201  }
202 
204 
206 
207  PointCloudConstPtr input_;
208  PointCloudPtr input_transformed_;
209  PointCloudConstPtr target_;
210 
211  Eigen::Matrix4f best_transformation_;
212 
213  bool refine_;
214  public:
215  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
216  };
217  }
218 }
219 
220 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
221 
222 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_