Point Cloud Library (PCL)  1.10.0-dev
correspondence_rejection_var_trimmed.h
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39 
40 #pragma once
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:
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  {
82  rejection_name_ = "CorrespondenceRejectorVarTrimmed";
83  }
84 
85  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
86  * \param[in] original_correspondences the set of initial correspondences given
87  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
88  */
89  void
90  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
91  pcl::Correspondences& remaining_correspondences) override;
92 
93  /** \brief Get the trimmed distance used for thresholding in correspondence rejection. */
94  inline double
95  getTrimmedDistance () const { return trimmed_distance_; };
96 
97  /** \brief Provide a source point cloud dataset (must contain XYZ
98  * data!), used to compute the correspondence distance.
99  * \param[in] cloud a cloud containing XYZ data
100  */
101  template <typename PointT> inline void
103  {
104  if (!data_container_)
105  data_container_.reset (new DataContainer<PointT>);
106  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
107  }
108 
109  /** \brief Provide a source point cloud dataset (must contain XYZ
110  * data!), used to compute the correspondence distance.
111  * \param[in] cloud a cloud containing XYZ data
112  */
113  template <typename PointT> inline void
115  {
116  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
117  if (!data_container_)
118  data_container_.reset (new DataContainer<PointT>);
119  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
120  }
121 
122  /** \brief Provide a target point cloud dataset (must contain XYZ
123  * data!), used to compute the correspondence distance.
124  * \param[in] target a cloud containing XYZ data
125  */
126  template <typename PointT> inline void
128  {
129  if (!data_container_)
130  data_container_.reset (new DataContainer<PointT>);
131  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
132  }
133 
134 
135 
136  /** \brief See if this rejector requires source points */
137  bool
138  requiresSourcePoints () const override
139  { return (true); }
140 
141  /** \brief Blob method for setting the source cloud */
142  void
144  {
146  fromPCLPointCloud2 (*cloud2, *cloud);
147  setInputSource<PointXYZ> (cloud);
148  }
149 
150  /** \brief See if this rejector requires a target cloud */
151  bool
152  requiresTargetPoints () const override
153  { return (true); }
154 
155  /** \brief Method for setting the target cloud */
156  void
158  {
160  fromPCLPointCloud2 (*cloud2, *cloud);
161  setInputTarget<PointXYZ> (cloud);
162  }
163 
164  /** \brief Provide a pointer to the search object used to find correspondences in
165  * the target cloud.
166  * \param[in] tree a pointer to the spatial search object.
167  * \param[in] force_no_recompute If set to true, this tree will NEVER be
168  * recomputed, regardless of calls to setInputTarget. Only use if you are
169  * confident that the tree will be set correctly.
170  */
171  template <typename PointT> inline void
173  bool force_no_recompute = false)
174  {
175  boost::static_pointer_cast< DataContainer<PointT> >
176  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
177  }
178 
179  /** \brief Get the computed inlier ratio used for thresholding in correspondence rejection. */
180  inline double
181  getTrimFactor () const { return factor_; }
182 
183  /** brief set the minimum overlap ratio
184  * \param[in] ratio the overlap ratio [0..1]
185  */
186  inline void
187  setMinRatio (double ratio) { min_ratio_ = ratio; }
188 
189  /** brief get the minimum overlap ratio
190  */
191  inline double
192  getMinRatio () const { return min_ratio_; }
193 
194  /** brief set the maximum overlap ratio
195  * \param[in] ratio the overlap ratio [0..1]
196  */
197  inline void
198  setMaxRatio (double ratio) { max_ratio_ = ratio; }
199 
200  /** brief get the maximum overlap ratio
201  */
202  inline double
203  getMaxRatio () const { return max_ratio_; }
204 
205  protected:
206 
207  /** \brief Apply the rejection algorithm.
208  * \param[out] correspondences the set of resultant correspondences.
209  */
210  inline void
211  applyRejection (pcl::Correspondences &correspondences) override
212  {
213  getRemainingCorrespondences (*input_correspondences_, correspondences);
214  }
215 
216  /** \brief The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.
217  */
219 
220  /** \brief The factor for correspondence rejection. Only factor times the total points sorted based on
221  * the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is
222  * computed internally
223  */
224  double factor_;
225 
226  /** \brief The minimum overlap ratio between the input and target clouds
227  */
228  double min_ratio_;
229 
230  /** \brief The maximum overlap ratio between the input and target clouds
231  */
232  double max_ratio_;
233 
234  /** \brief part of the term that balances the root mean square difference. This is an internal parameter
235  */
236  double lambda_;
237 
239 
240  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
242 
243  private:
244 
245  /** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
246  */
247  inline float optimizeInlierRatio (std::vector <double> &dists);
248  };
249  }
250 }
251 
252 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp>
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
CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as...
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
double trimmed_distance_
The inlier distance threshold (based on the computed trim factor) between two correspondent points in...
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
double getMinRatio() const
brief get the minimum overlap ratio
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...
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.
double lambda_
part of the term that balances the root mean square difference.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
void setMinRatio(double ratio)
brief set the minimum overlap ratio
void setMaxRatio(double ratio)
brief set the maximum overlap ratio
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
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...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
double min_ratio_
The minimum overlap ratio between the input and target clouds.
bool requiresSourcePoints() const override
See if this rejector requires source points.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
shared_ptr< DataContainerInterface > Ptr
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...
double getMaxRatio() const
brief get the maximum overlap ratio
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
double getTrimmedDistance() const
Get the trimmed distance used for thresholding in correspondence rejection.
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...
double getTrimFactor() const
Get the computed inlier ratio used for thresholding in correspondence rejection.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
#define PCL_EXPORTS
Definition: pcl_macros.h:253
double max_ratio_
The maximum overlap ratio between the input and target clouds.