Point Cloud Library (PCL)  1.10.0-dev
correspondence_rejection_distance.h
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40 
41 #pragma once
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:
70 
71  /** \brief Empty constructor. */
72  CorrespondenceRejectorDistance () : max_distance_(std::numeric_limits<float>::max ())
73  {
74  rejection_name_ = "CorrespondenceRejectorDistance";
75  }
76 
77  /** \brief Empty destructor */
79 
80  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
81  * \param[in] original_correspondences the set of initial correspondences given
82  * \param[out] remaining_correspondences the resultant filtered 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 correspondences.
90  * Correspondences with larger distances are rejected.
91  * \note Internally, the distance will be stored squared.
92  */
93  virtual inline void
94  setMaximumDistance (float distance) { max_distance_ = distance * distance; };
95 
96  /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
97  inline float
98  getMaximumDistance () { return std::sqrt (max_distance_); };
99 
100  /** \brief Provide a source point cloud dataset (must contain XYZ
101  * data!), used to compute the correspondence distance.
102  * \param[in] cloud a cloud containing XYZ data
103  */
104  template <typename PointT> inline void
106  {
107  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
108  if (!data_container_)
109  data_container_.reset (new DataContainer<PointT>);
110  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
111  }
112 
113  /** \brief Provide a source point cloud dataset (must contain XYZ
114  * data!), used to compute the correspondence distance.
115  * \param[in] cloud a cloud containing XYZ data
116  */
117  template <typename PointT> inline void
119  {
120  if (!data_container_)
121  data_container_.reset (new DataContainer<PointT>);
122  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
123  }
124 
125  /** \brief Provide a target point cloud dataset (must contain XYZ
126  * data!), used to compute the correspondence distance.
127  * \param[in] target a cloud containing XYZ data
128  */
129  template <typename PointT> inline void
131  {
132  if (!data_container_)
133  data_container_.reset (new DataContainer<PointT>);
134  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
135  }
136 
137 
138  /** \brief See if this rejector requires source points */
139  bool
140  requiresSourcePoints () const override
141  { return (true); }
142 
143  /** \brief Blob method for setting the source cloud */
144  void
146  {
148  fromPCLPointCloud2 (*cloud2, *cloud);
149  setInputSource<PointXYZ> (cloud);
150  }
151 
152  /** \brief See if this rejector requires a target cloud */
153  bool
154  requiresTargetPoints () const override
155  { return (true); }
156 
157  /** \brief Method for setting the target cloud */
158  void
160  {
162  fromPCLPointCloud2 (*cloud2, *cloud);
163  setInputTarget<PointXYZ> (cloud);
164  }
165 
166  /** \brief Provide a pointer to the search object used to find correspondences in
167  * the target cloud.
168  * \param[in] tree a pointer to the spatial search object.
169  * \param[in] force_no_recompute If set to true, this tree will NEVER be
170  * recomputed, regardless of calls to setInputTarget. Only use if you are
171  * confident that the tree will be set correctly.
172  */
173  template <typename PointT> inline void
175  bool force_no_recompute = false)
176  {
177  boost::static_pointer_cast< DataContainer<PointT> >
178  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
179  }
180 
181 
182  protected:
183 
184  /** \brief Apply the rejection algorithm.
185  * \param[out] correspondences the set of resultant correspondences.
186  */
187  inline void
188  applyRejection (pcl::Correspondences &correspondences) override
189  {
190  getRemainingCorrespondences (*input_correspondences_, correspondences);
191  }
192 
193  /** \brief The maximum distance threshold between two correspondent points in source <-> target. If the
194  * distance is larger than this threshold, the points will not be ignored in the alignment process.
195  */
197 
199 
200  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
202  };
203 
204  }
205 }
206 
207 #include <pcl/registration/impl/correspondence_rejection_distance.hpp>
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...
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:78
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...
Definition: conversions.h:168
shared_ptr< const CorrespondenceRejector > ConstPtr
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
shared_ptr< CorrespondenceRejector > Ptr
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
float getMaximumDistance()
Get the maximum distance used for thresholding in correspondence rejection.
const std::string & getClassName() const
Get a string representation of the name of this class.
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
bool requiresSourcePoints() const override
See if this rejector requires source points.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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...
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
shared_ptr< DataContainerInterface > Ptr
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...
CorrespondencesConstPtr input_correspondences_
The input correspondences.
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
std::string rejection_name_
The name of the rejection method.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void setInputCloud(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
#define PCL_EXPORTS
Definition: pcl_macros.h:253
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.