Point Cloud Library (PCL)  1.10.0-dev
correspondence_rejection_organized_boundary.h
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38 
39 #pragma once
40 
41 #include <pcl/registration/correspondence_rejection.h>
42 
43 
44 namespace pcl
45 {
46  namespace registration
47  {
48  /**
49  * @brief The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure.
50  * For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is
51  * done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set
52  * by the user).
53  * \note Both the source and the target clouds need to be organized, otherwise all the correspondences will be rejected.
54  *
55  * \author Alexandru E. Ichim
56  * \ingroup registration
57  */
59  {
60  public:
61  /** @brief Empty constructor. */
63  : boundary_nans_threshold_ (8)
64  , window_size_ (5)
65  , depth_step_threshold_ (0.025f)
66  { }
67 
68  void
69  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
70  pcl::Correspondences& remaining_correspondences) override;
71 
72  inline void
74  { boundary_nans_threshold_ = val; }
75 
76 
77  template <typename PointT> inline void
79  {
80  if (!data_container_)
81  data_container_.reset (new pcl::registration::DataContainer<PointT>);
82  boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputSource (cloud);
83  }
84 
85  template <typename PointT> inline void
87  {
88  if (!data_container_)
89  data_container_.reset (new pcl::registration::DataContainer<PointT>);
90  boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputTarget (cloud);
91  }
92 
93  /** \brief See if this rejector requires source points */
94  bool
95  requiresSourcePoints () const override
96  { return (true); }
97 
98  /** \brief Blob method for setting the source cloud */
99  void
101  {
103  fromPCLPointCloud2 (*cloud2, *cloud);
104  setInputSource<PointXYZ> (cloud);
105  }
106 
107  /** \brief See if this rejector requires a target cloud */
108  bool
109  requiresTargetPoints () const override
110  { return (true); }
111 
112  /** \brief Method for setting the target cloud */
113  void
115  {
117  fromPCLPointCloud2 (*cloud2, *cloud);
118  setInputTarget<PointXYZ> (cloud);
119  }
120 
121  virtual bool
122  updateSource (const Eigen::Matrix4d &)
123  { return (true); }
124 
125  protected:
126 
127  /** \brief Apply the rejection algorithm.
128  * \param[out] correspondences the set of resultant correspondences.
129  */
130  inline void
131  applyRejection (pcl::Correspondences &correspondences) override
132  { getRemainingCorrespondences (*input_correspondences_, correspondences); }
133 
137 
140  };
141  }
142 }
143 
144 #include <pcl/registration/impl/correspondence_rejection_organized_boundary.hpp>
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
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
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
bool requiresSourcePoints() const override
See if this rejector requires source points.
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
CorrespondenceRejector represents the base class for correspondence rejection methods ...
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
shared_ptr< DataContainerInterface > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
#define PCL_EXPORTS
Definition: pcl_macros.h:253