Point Cloud Library (PCL)  1.7.0
correspondence_rejection_var_trimmed.h
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39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
41 
42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/point_cloud.h>
44 
45 #include <vector>
46 
47 namespace pcl
48 {
49  namespace registration
50  {
51  /**
52  * @b CorrespondenceRejectoVarTrimmed implements a simple correspondence
53  * rejection method by considering as inliers a certain percentage of correspondences
54  * with the least distances. The percentage of inliers is computed internally as mentioned
55  * in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
56  *
57  * \note If \ref setInputCloud and \ref setInputTarget are given, then the
58  * distances between correspondences will be estimated using the given XYZ
59  * data, and not read from the set of input correspondences.
60  *
61  * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
62  * \ingroup registration
63  */
65  {
69 
70  public:
71  typedef boost::shared_ptr<CorrespondenceRejectorVarTrimmed> Ptr;
72  typedef boost::shared_ptr<const CorrespondenceRejectorVarTrimmed> ConstPtr;
73 
74  /** \brief Empty constructor. */
76  trimmed_distance_ (0),
77  factor_ (),
78  min_ratio_ (0.05),
79  max_ratio_ (0.95),
80  lambda_ (0.95),
81  data_container_ ()
82  {
83  rejection_name_ = "CorrespondenceRejectorVarTrimmed";
84  }
85 
86  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
87  * \param[in] original_correspondences the set of initial correspondences given
88  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
89  */
90  void
91  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
92  pcl::Correspondences& remaining_correspondences);
93 
94  /** \brief Get the trimmed distance used for thresholding in correspondence rejection. */
95  inline double
96  getTrimmedDistance () const { return trimmed_distance_; };
97 
98  /** \brief Provide a source point cloud dataset (must contain XYZ
99  * data!), used to compute the correspondence distance.
100  * \param[in] cloud a cloud containing XYZ data
101  */
102  template <typename PointT> inline void
104  {
105  if (!data_container_)
106  data_container_.reset (new DataContainer<PointT>);
107  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
108  }
109 
110  /** \brief Provide a source point cloud dataset (must contain XYZ
111  * data!), used to compute the correspondence distance.
112  * \param[in] cloud a cloud containing XYZ data
113  */
114  template <typename PointT> inline void
116  {
117  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
118  if (!data_container_)
119  data_container_.reset (new DataContainer<PointT>);
120  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
121  }
122 
123  /** \brief Provide a target point cloud dataset (must contain XYZ
124  * data!), used to compute the correspondence distance.
125  * \param[in] target a cloud containing XYZ data
126  */
127  template <typename PointT> inline void
129  {
130  if (!data_container_)
131  data_container_.reset (new DataContainer<PointT>);
132  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
133  }
134 
135  /** \brief Provide a pointer to the search object used to find correspondences in
136  * the target cloud.
137  * \param[in] tree a pointer to the spatial search object.
138  * \param[in] force_no_recompute If set to true, this tree will NEVER be
139  * recomputed, regardless of calls to setInputTarget. Only use if you are
140  * confident that the tree will be set correctly.
141  */
142  template <typename PointT> inline void
143  setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
144  bool force_no_recompute = false)
145  {
146  boost::static_pointer_cast< DataContainer<PointT> >
147  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
148  }
149 
150  /** \brief Get the computed inlier ratio used for thresholding in correspondence rejection. */
151  inline double
152  getTrimFactor () const { return factor_; }
153 
154  /** brief set the minimum overlap ratio
155  * \param[in] ratio the overlap ratio [0..1]
156  */
157  inline void
158  setMinRatio (double ratio) { min_ratio_ = ratio; }
159 
160  /** brief get the minimum overlap ratio
161  */
162  inline double
163  getMinRatio () const { return min_ratio_; }
164 
165  /** brief set the maximum overlap ratio
166  * \param[in] ratio the overlap ratio [0..1]
167  */
168  inline void
169  setMaxRatio (double ratio) { max_ratio_ = ratio; }
170 
171  /** brief get the maximum overlap ratio
172  */
173  inline double
174  getMaxRatio () const { return max_ratio_; }
175 
176  protected:
177 
178  /** \brief Apply the rejection algorithm.
179  * \param[out] correspondences the set of resultant correspondences.
180  */
181  inline void
183  {
184  getRemainingCorrespondences (*input_correspondences_, correspondences);
185  }
186 
187  /** \brief The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.
188  */
190 
191  /** \brief The factor for correspondence rejection. Only factor times the total points sorted based on
192  * the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is
193  * computed internally
194  */
195  double factor_;
196 
197  /** \brief The minimum overlap ratio between the input and target clouds
198  */
199  double min_ratio_;
200 
201  /** \brief The maximum overlap ratio between the input and target clouds
202  */
203  double max_ratio_;
204 
205  /** \brief part of the term that balances the root mean square difference. This is an internal parameter
206  */
207  double lambda_;
208 
209  typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
210 
211  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
213 
214  private:
215 
216  /** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
217  */
218  inline float optimizeInlierRatio (std::vector <double> &dists);
219  };
220  }
221 }
222 
223 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp>
224 
225 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_