Point Cloud Library (PCL)  1.9.1
correspondence_rejection_median_distance.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/point_cloud.h>
45 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** \brief CorrespondenceRejectorMedianDistance implements a simple correspondence
51  * rejection method based on thresholding based on the median distance 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 Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
59  * \ingroup registration
60  */
62  {
66 
67  public:
68  typedef boost::shared_ptr<CorrespondenceRejectorMedianDistance> Ptr;
69  typedef boost::shared_ptr<const CorrespondenceRejectorMedianDistance> ConstPtr;
70 
71  /** \brief Empty constructor. */
73  : median_distance_ (0)
74  , factor_ (1.0)
75  , data_container_ ()
76  {
77  rejection_name_ = "CorrespondenceRejectorMedianDistance";
78  }
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);
87 
88  /** \brief Get the median distance used for thresholding in correspondence rejection. */
89  inline double
90  getMedianDistance () const { return (median_distance_); };
91 
92  /** \brief Provide a source point cloud dataset (must contain XYZ
93  * data!), used to compute the correspondence distance.
94  * \param[in] cloud a cloud containing XYZ data
95  */
96  template <typename PointT> inline void
98  {
99  if (!data_container_)
100  data_container_.reset (new DataContainer<PointT>);
101  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
102  }
103 
104  /** \brief Provide a source point cloud dataset (must contain XYZ
105  * data!), used to compute the correspondence distance.
106  * \param[in] cloud a cloud containing XYZ data
107  */
108  template <typename PointT> inline void
110  {
111  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
112  if (!data_container_)
113  data_container_.reset (new DataContainer<PointT>);
114  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
115  }
116 
117  /** \brief Provide a target point cloud dataset (must contain XYZ
118  * data!), used to compute the correspondence distance.
119  * \param[in] target a cloud containing XYZ data
120  */
121  template <typename PointT> inline void
123  {
124  if (!data_container_)
125  data_container_.reset (new DataContainer<PointT>);
126  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
127  }
128 
129  /** \brief See if this rejector requires source points */
130  bool
132  { return (true); }
133 
134  /** \brief Blob method for setting the source cloud */
135  void
137  {
139  fromPCLPointCloud2 (*cloud2, *cloud);
140  setInputSource<PointXYZ> (cloud);
141  }
142 
143  /** \brief See if this rejector requires a target cloud */
144  bool
146  { return (true); }
147 
148  /** \brief Method for setting the target cloud */
149  void
151  {
153  fromPCLPointCloud2 (*cloud2, *cloud);
154  setInputTarget<PointXYZ> (cloud);
155  }
156 
157  /** \brief Provide a pointer to the search object used to find correspondences in
158  * the target cloud.
159  * \param[in] tree a pointer to the spatial search object.
160  * \param[in] force_no_recompute If set to true, this tree will NEVER be
161  * recomputed, regardless of calls to setInputTarget. Only use if you are
162  * confident that the tree will be set correctly.
163  */
164  template <typename PointT> inline void
165  setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
166  bool force_no_recompute = false)
167  {
168  boost::static_pointer_cast< DataContainer<PointT> >
169  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
170  }
171 
172  /** \brief Set the factor for correspondence rejection. Points with distance greater than median times factor
173  * will be rejected
174  * \param[in] factor value
175  */
176  inline void
177  setMedianFactor (double factor) { factor_ = factor; };
178 
179  /** \brief Get the factor used for thresholding in correspondence rejection. */
180  inline double
181  getMedianFactor () const { return factor_; };
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 median distance threshold between two correspondent points in source <-> target.
195  */
197 
198  /** \brief The factor for correspondence rejection. Points with distance greater than median times factor
199  * will be rejected
200  */
201  double factor_;
202 
203  typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
204 
205  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
207  };
208  }
209 }
210 
211 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
212 
213 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::CorrespondenceRejectorMedianDistance::data_container_
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
Definition: correspondence_rejection_median_distance.h:206
pcl::registration::CorrespondenceRejectorMedianDistance::requiresTargetPoints
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
Definition: correspondence_rejection_median_distance.h:145
pcl::registration::CorrespondenceRejectorMedianDistance::requiresSourcePoints
bool requiresSourcePoints() const
See if this rejector requires source points.
Definition: correspondence_rejection_median_distance.h:131
pcl::registration::CorrespondenceRejectorMedianDistance::ConstPtr
boost::shared_ptr< const CorrespondenceRejectorMedianDistance > ConstPtr
Definition: correspondence_rejection_median_distance.h:69
pcl::registration::CorrespondenceRejectorMedianDistance::applyRejection
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
Definition: correspondence_rejection_median_distance.h:189
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: correspondence_rejection.h:135
pcl::registration::CorrespondenceRejectorMedianDistance::factor_
double factor_
The factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:201
pcl::registration::CorrespondenceRejectorMedianDistance::setSearchMethodTarget
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.
Definition: correspondence_rejection_median_distance.h:165
pcl::registration::CorrespondenceRejectorMedianDistance::setInputCloud
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...
Definition: correspondence_rejection_median_distance.h:109
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::registration::CorrespondenceRejectorMedianDistance::setInputTarget
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...
Definition: correspondence_rejection_median_distance.h:122
pcl::registration::CorrespondenceRejectorMedianDistance
CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thr...
Definition: correspondence_rejection_median_distance.h:61
pcl::registration::CorrespondenceRejectorMedianDistance::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
Definition: correspondence_rejection_median_distance.h:136
pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor
void setMedianFactor(double factor)
Set the factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:177
pcl::registration::DataContainer
DataContainer is a container for the input and target point clouds and implements the interface to co...
Definition: correspondence_rejection.h:216
pcl::search::KdTree< PointT >
pcl::registration::CorrespondenceRejectorMedianDistance::CorrespondenceRejectorMedianDistance
CorrespondenceRejectorMedianDistance()
Empty constructor.
Definition: correspondence_rejection_median_distance.h:72
pcl::registration::CorrespondenceRejectorMedianDistance::getMedianFactor
double getMedianFactor() const
Get the factor used for thresholding in correspondence rejection.
Definition: correspondence_rejection_median_distance.h:181
pcl::registration::CorrespondenceRejectorMedianDistance::Ptr
boost::shared_ptr< CorrespondenceRejectorMedianDistance > Ptr
Definition: correspondence_rejection_median_distance.h:68
pcl::registration::CorrespondenceRejectorMedianDistance::setInputSource
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...
Definition: correspondence_rejection_median_distance.h:97
pcl::registration::CorrespondenceRejectorMedianDistance::getMedianDistance
double getMedianDistance() const
Get the median distance used for thresholding in correspondence rejection.
Definition: correspondence_rejection_median_distance.h:90
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorMedianDistance::DataContainerPtr
boost::shared_ptr< DataContainerInterface > DataContainerPtr
Definition: correspondence_rejection_median_distance.h:203
pcl::PCLPointCloud2::ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
Definition: PCLPointCloud2.h:52
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition: correspondence_rejection.h:191
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition: correspondence_rejection.h:188
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:59
pcl::fromPCLPointCloud2
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
pcl::registration::CorrespondenceRejectorMedianDistance::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target cloud.
Definition: correspondence_rejection_median_distance.h:150
pcl::registration::CorrespondenceRejectorMedianDistance::median_distance_
double median_distance_
The median distance threshold between two correspondent points in source <-> target.
Definition: correspondence_rejection_median_distance.h:196