Point Cloud Library (PCL)  1.9.1
correspondence_rejection_distance.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_
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:
68  typedef boost::shared_ptr<CorrespondenceRejectorDistance> Ptr;
69  typedef boost::shared_ptr<const CorrespondenceRejectorDistance> ConstPtr;
70 
71  /** \brief Empty constructor. */
72  CorrespondenceRejectorDistance () : max_distance_(std::numeric_limits<float>::max ()),
73  data_container_ ()
74  {
75  rejection_name_ = "CorrespondenceRejectorDistance";
76  }
77 
78  /** \brief Empty destructor */
80 
81  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
82  * \param[in] original_correspondences the set of initial correspondences given
83  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
84  */
85  void
86  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
87  pcl::Correspondences& remaining_correspondences);
88 
89  /** \brief Set the maximum distance used for thresholding in correspondence rejection.
90  * \param[in] distance Distance to be used as maximum distance between correspondences.
91  * Correspondences with larger distances are rejected.
92  * \note Internally, the distance will be stored squared.
93  */
94  virtual inline void
95  setMaximumDistance (float distance) { max_distance_ = distance * distance; };
96 
97  /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
98  inline float
99  getMaximumDistance () { return std::sqrt (max_distance_); };
100 
101  /** \brief Provide a source point cloud dataset (must contain XYZ
102  * data!), used to compute the correspondence distance.
103  * \param[in] cloud a cloud containing XYZ data
104  */
105  template <typename PointT> inline void
107  {
108  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
109  if (!data_container_)
110  data_container_.reset (new DataContainer<PointT>);
111  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
112  }
113 
114  /** \brief Provide a source point cloud dataset (must contain XYZ
115  * data!), used to compute the correspondence distance.
116  * \param[in] cloud a cloud containing XYZ data
117  */
118  template <typename PointT> inline void
120  {
121  if (!data_container_)
122  data_container_.reset (new DataContainer<PointT>);
123  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
124  }
125 
126  /** \brief Provide a target point cloud dataset (must contain XYZ
127  * data!), used to compute the correspondence distance.
128  * \param[in] target a cloud containing XYZ data
129  */
130  template <typename PointT> inline void
132  {
133  if (!data_container_)
134  data_container_.reset (new DataContainer<PointT>);
135  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
136  }
137 
138 
139  /** \brief See if this rejector requires source points */
140  bool
142  { return (true); }
143 
144  /** \brief Blob method for setting the source cloud */
145  void
147  {
149  fromPCLPointCloud2 (*cloud2, *cloud);
150  setInputSource<PointXYZ> (cloud);
151  }
152 
153  /** \brief See if this rejector requires a target cloud */
154  bool
156  { return (true); }
157 
158  /** \brief Method for setting the target cloud */
159  void
161  {
163  fromPCLPointCloud2 (*cloud2, *cloud);
164  setInputTarget<PointXYZ> (cloud);
165  }
166 
167  /** \brief Provide a pointer to the search object used to find correspondences in
168  * the target cloud.
169  * \param[in] tree a pointer to the spatial search object.
170  * \param[in] force_no_recompute If set to true, this tree will NEVER be
171  * recomputed, regardless of calls to setInputTarget. Only use if you are
172  * confident that the tree will be set correctly.
173  */
174  template <typename PointT> inline void
175  setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
176  bool force_no_recompute = false)
177  {
178  boost::static_pointer_cast< DataContainer<PointT> >
179  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
180  }
181 
182 
183  protected:
184 
185  /** \brief Apply the rejection algorithm.
186  * \param[out] correspondences the set of resultant correspondences.
187  */
188  inline void
190  {
191  getRemainingCorrespondences (*input_correspondences_, correspondences);
192  }
193 
194  /** \brief The maximum distance threshold between two correspondent points in source <-> target. If the
195  * distance is larger than this threshold, the points will not be ignored in the alignment process.
196  */
198 
199  typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
200 
201  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
203  };
204 
205  }
206 }
207 
208 #include <pcl/registration/impl/correspondence_rejection_distance.hpp>
209 
210 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_DISTANCE_H_ */
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:169
DataContainer is a container for the input and target point clouds and implements the interface to co...
void setSearchMethodTarget(const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud.
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
boost::shared_ptr< CorrespondenceRejectorDistance > Ptr
float getMaximumDistance()
Get the maximum distance used for thresholding in correspondence rejection.
boost::shared_ptr< DataContainerInterface > DataContainerPtr
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
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 setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
bool requiresSourcePoints() const
See if this rejector requires source points.
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:61
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target cloud.
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...
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on threshold...
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.
std::string rejection_name_
The name of the rejection method.
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< const CorrespondenceRejectorDistance > ConstPtr