Point Cloud Library (PCL)  1.9.1
correspondence_rejection.h
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40 
41 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
42 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_
43 
44 #include <pcl/registration/correspondence_types.h>
45 #include <pcl/registration/correspondence_sorting.h>
46 #include <pcl/console/print.h>
47 #include <pcl/common/transforms.h>
48 #include <pcl/point_cloud.h>
49 #include <pcl/search/kdtree.h>
50 
51 namespace pcl
52 {
53  namespace registration
54  {
55  /** @b CorrespondenceRejector represents the base class for correspondence rejection methods
56  * \author Dirk Holz
57  * \ingroup registration
58  */
60  {
61  public:
62  typedef boost::shared_ptr<CorrespondenceRejector> Ptr;
63  typedef boost::shared_ptr<const CorrespondenceRejector> ConstPtr;
64 
65  /** \brief Empty constructor. */
67  : rejection_name_ ()
69  {}
70 
71  /** \brief Empty destructor. */
73 
74  /** \brief Provide a pointer to the vector of the input correspondences.
75  * \param[in] correspondences the const boost shared pointer to a correspondence vector
76  */
77  virtual inline void
79  {
80  input_correspondences_ = correspondences;
81  };
82 
83  /** \brief Get a pointer to the vector of the input correspondences.
84  * \return correspondences the const boost shared pointer to a correspondence vector
85  */
88 
89  /** \brief Run correspondence rejection
90  * \param[out] correspondences Vector of correspondences that have not been rejected.
91  */
92  inline void
94  {
96  return;
97 
98  applyRejection (correspondences);
99  }
100 
101  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
102  * Pure virtual. Compared to \a getCorrespondences this function is
103  * stateless, i.e., input correspondences do not need to be provided beforehand,
104  * but are directly provided in the function call.
105  * \param[in] original_correspondences the set of initial correspondences given
106  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
107  */
108  virtual inline void
109  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
110  pcl::Correspondences& remaining_correspondences) = 0;
111 
112  /** \brief Determine the indices of query points of
113  * correspondences that have been rejected, i.e., the difference
114  * between the input correspondences (set via \a setInputCorrespondences)
115  * and the given correspondence vector.
116  * \param[in] correspondences Vector of correspondences after rejection
117  * \param[out] indices Vector of query point indices of those correspondences
118  * that have been rejected.
119  */
120  inline void
122  std::vector<int>& indices)
123  {
125  {
126  PCL_WARN ("[pcl::registration::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n", getClassName ().c_str ());
127  return;
128  }
129 
130  pcl::getRejectedQueryIndices(*input_correspondences_, correspondences, indices);
131  }
132 
133  /** \brief Get a string representation of the name of this class. */
134  inline const std::string&
135  getClassName () const { return (rejection_name_); }
136 
137 
138  /** \brief See if this rejector requires source points */
139  virtual bool
141  { return (false); }
142 
143  /** \brief Abstract method for setting the source cloud */
144  virtual void
146  {
147  PCL_WARN ("[pcl::registration::%s::setSourcePoints] This class does not require an input source cloud", getClassName ().c_str ());
148  }
149 
150  /** \brief See if this rejector requires source normals */
151  virtual bool
153  { return (false); }
154 
155  /** \brief Abstract method for setting the source normals */
156  virtual void
158  {
159  PCL_WARN ("[pcl::registration::%s::setSourceNormals] This class does not require input source normals", getClassName ().c_str ());
160  }
161  /** \brief See if this rejector requires a target cloud */
162  virtual bool
164  { return (false); }
165 
166  /** \brief Abstract method for setting the target cloud */
167  virtual void
169  {
170  PCL_WARN ("[pcl::registration::%s::setTargetPoints] This class does not require an input target cloud", getClassName ().c_str ());
171  }
172 
173  /** \brief See if this rejector requires target normals */
174  virtual bool
176  { return (false); }
177 
178  /** \brief Abstract method for setting the target normals */
179  virtual void
181  {
182  PCL_WARN ("[pcl::registration::%s::setTargetNormals] This class does not require input target normals", getClassName ().c_str ());
183  }
184 
185  protected:
186 
187  /** \brief The name of the rejection method. */
188  std::string rejection_name_;
189 
190  /** \brief The input correspondences. */
192 
193  /** \brief Abstract rejection method. */
194  virtual void
195  applyRejection (Correspondences &correspondences) = 0;
196  };
197 
198  /** @b DataContainerInterface provides a generic interface for computing correspondence scores between correspondent
199  * points in the input and target clouds
200  * \ingroup registration
201  */
203  {
204  public:
206  virtual double getCorrespondenceScore (int index) = 0;
207  virtual double getCorrespondenceScore (const pcl::Correspondence &) = 0;
208  virtual double getCorrespondenceScoreFromNormals (const pcl::Correspondence &) = 0;
209  };
210 
211  /** @b DataContainer is a container for the input and target point clouds and implements the interface
212  * to compute correspondence scores between correspondent points in the input and target clouds
213  * \ingroup registration
214  */
215  template <typename PointT, typename NormalT = pcl::PointNormal>
217  {
219  typedef typename PointCloud::Ptr PointCloudPtr;
220  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
221 
222  typedef typename pcl::search::KdTree<PointT>::Ptr KdTreePtr;
223 
225  typedef typename Normals::Ptr NormalsPtr;
226  typedef typename Normals::ConstPtr NormalsConstPtr;
227 
228  public:
229 
230  /** \brief Empty constructor. */
231  DataContainer (bool needs_normals = false)
232  : input_ ()
233  , input_transformed_ ()
234  , target_ ()
235  , input_normals_ ()
236  , input_normals_transformed_ ()
237  , target_normals_ ()
238  , tree_ (new pcl::search::KdTree<PointT>)
239  , class_name_ ("DataContainer")
240  , needs_normals_ (needs_normals)
241  , target_cloud_updated_ (true)
242  , force_no_recompute_ (false)
243  {
244  }
245 
246  /** \brief Empty destructor */
247  virtual ~DataContainer () {}
248 
249  /** \brief Provide a source point cloud dataset (must contain XYZ
250  * data!), used to compute the correspondence distance.
251  * \param[in] cloud a cloud containing XYZ data
252  */
253  inline void
254  setInputSource (const PointCloudConstPtr &cloud)
255  {
256  input_ = cloud;
257  }
258 
259  /** \brief Get a pointer to the input point cloud dataset target. */
260  inline PointCloudConstPtr const
261  getInputSource () { return (input_); }
262 
263  /** \brief Provide a target point cloud dataset (must contain XYZ
264  * data!), used to compute the correspondence distance.
265  * \param[in] target a cloud containing XYZ data
266  */
267  inline void
268  setInputTarget (const PointCloudConstPtr &target)
269  {
270  target_ = target;
271  target_cloud_updated_ = true;
272  }
273 
274  /** \brief Get a pointer to the input point cloud dataset target. */
275  inline PointCloudConstPtr const
276  getInputTarget () { return (target_); }
277 
278  /** \brief Provide a pointer to the search object used to find correspondences in
279  * the target cloud.
280  * \param[in] tree a pointer to the spatial search object.
281  * \param[in] force_no_recompute If set to true, this tree will NEVER be
282  * recomputed, regardless of calls to setInputTarget. Only use if you are
283  * confident that the tree will be set correctly.
284  */
285  inline void
286  setSearchMethodTarget (const KdTreePtr &tree,
287  bool force_no_recompute = false)
288  {
289  tree_ = tree;
290  if (force_no_recompute)
291  {
292  force_no_recompute_ = true;
293  }
294  target_cloud_updated_ = true;
295  }
296 
297  /** \brief Set the normals computed on the input point cloud
298  * \param[in] normals the normals computed for the input cloud
299  */
300  inline void
301  setInputNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }
302 
303  /** \brief Get the normals computed on the input point cloud */
304  inline NormalsConstPtr
305  getInputNormals () { return (input_normals_); }
306 
307  /** \brief Set the normals computed on the target point cloud
308  * \param[in] normals the normals computed for the input cloud
309  */
310  inline void
311  setTargetNormals (const NormalsConstPtr &normals) { target_normals_ = normals; }
312 
313  /** \brief Get the normals computed on the target point cloud */
314  inline NormalsConstPtr
315  getTargetNormals () { return (target_normals_); }
316 
317  /** \brief Get the correspondence score for a point in the input cloud
318  * \param[in] index index of the point in the input cloud
319  */
320  inline double
322  {
323  if ( target_cloud_updated_ && !force_no_recompute_ )
324  {
325  tree_->setInputCloud (target_);
326  }
327  std::vector<int> indices (1);
328  std::vector<float> distances (1);
329  if (tree_->nearestKSearch (input_->points[index], 1, indices, distances))
330  return (distances[0]);
331  else
332  return (std::numeric_limits<double>::max ());
333  }
334 
335  /** \brief Get the correspondence score for a given pair of correspondent points
336  * \param[in] corr Correspondent points
337  */
338  inline double
340  {
341  // Get the source and the target feature from the list
342  const PointT &src = input_->points[corr.index_query];
343  const PointT &tgt = target_->points[corr.index_match];
344 
345  return ((src.getVector4fMap () - tgt.getVector4fMap ()).squaredNorm ());
346  }
347 
348  /** \brief Get the correspondence score for a given pair of correspondent points based on
349  * the angle between the normals. The normmals for the in put and target clouds must be
350  * set before using this function
351  * \param[in] corr Correspondent points
352  */
353  inline double
355  {
356  //assert ( (input_normals_->points.size () != 0) && (target_normals_->points.size () != 0) && "Normals are not set for the input and target point clouds");
357  assert (input_normals_ && target_normals_ && "Normals are not set for the input and target point clouds");
358  const NormalT &src = input_normals_->points[corr.index_query];
359  const NormalT &tgt = target_normals_->points[corr.index_match];
360  return (double ((src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2])));
361  }
362 
363  private:
364  /** \brief The input point cloud dataset */
365  PointCloudConstPtr input_;
366 
367  /** \brief The input transformed point cloud dataset */
368  PointCloudPtr input_transformed_;
369 
370  /** \brief The target point cloud datase. */
371  PointCloudConstPtr target_;
372 
373  /** \brief Normals to the input point cloud */
374  NormalsConstPtr input_normals_;
375 
376  /** \brief Normals to the input point cloud */
377  NormalsPtr input_normals_transformed_;
378 
379  /** \brief Normals to the target point cloud */
380  NormalsConstPtr target_normals_;
381 
382  /** \brief A pointer to the spatial search object. */
383  KdTreePtr tree_;
384 
385  /** \brief The name of the rejection method. */
386  std::string class_name_;
387 
388  /** \brief Should the current data container use normals? */
389  bool needs_normals_;
390 
391  /** \brief Variable that stores whether we have a new target cloud, meaning we need to pre-process it again.
392  * This way, we avoid rebuilding the kd-tree */
393  bool target_cloud_updated_;
394 
395  /** \brief A flag which, if set, means the tree operating on the target cloud
396  * will never be recomputed*/
397  bool force_no_recompute_;
398 
399 
400 
401  /** \brief Get a string representation of the name of this class. */
402  inline const std::string&
403  getClassName () const { return (class_name_); }
404  };
405  }
406 }
407 
408 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */
409 
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::Correspondence::index_match
int index_match
Index of the matching (target) point.
Definition: correspondence.h:63
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition: point_types.hpp:791
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::registration::CorrespondenceRejector::setInputCorrespondences
virtual void setInputCorrespondences(const CorrespondencesConstPtr &correspondences)
Provide a pointer to the vector of the input correspondences.
Definition: correspondence_rejection.h:78
pcl::registration::CorrespondenceRejector::ConstPtr
boost::shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:63
pcl::registration::CorrespondenceRejector::requiresTargetNormals
virtual bool requiresTargetNormals() const
See if this rejector requires target normals.
Definition: correspondence_rejection.h:175
pcl::KdTree
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:56
pcl::registration::CorrespondenceRejector::getRemainingCorrespondences
virtual void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)=0
Get a list of valid correspondences after rejection from the original set of correspondences.
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::DataContainer::getInputNormals
NormalsConstPtr getInputNormals()
Get the normals computed on the input point cloud.
Definition: correspondence_rejection.h:305
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:619
pcl::registration::DataContainer::getInputTarget
const PointCloudConstPtr getInputTarget()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection.h:276
pcl::registration::DataContainer::getCorrespondenceScore
double getCorrespondenceScore(const pcl::Correspondence &corr)
Get the correspondence score for a given pair of correspondent points.
Definition: correspondence_rejection.h:339
pcl::registration::DataContainer::setInputSource
void setInputSource(const PointCloudConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
Definition: correspondence_rejection.h:254
pcl::registration::DataContainer::DataContainer
DataContainer(bool needs_normals=false)
Empty constructor.
Definition: correspondence_rejection.h:231
pcl::search::KdTree::Ptr
boost::shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:79
pcl::registration::CorrespondenceRejector::requiresSourcePoints
virtual bool requiresSourcePoints() const
See if this rejector requires source points.
Definition: correspondence_rejection.h:140
pcl::registration::CorrespondenceRejector::getCorrespondences
void getCorrespondences(pcl::Correspondences &correspondences)
Run correspondence rejection.
Definition: correspondence_rejection.h:93
pcl::registration::DataContainerInterface
DataContainerInterface provides a generic interface for computing correspondence scores between corre...
Definition: correspondence_rejection.h:202
pcl::registration::CorrespondenceRejector::getInputCorrespondences
CorrespondencesConstPtr getInputCorrespondences()
Get a pointer to the vector of the input correspondences.
Definition: correspondence_rejection.h:87
pcl::registration::DataContainer::~DataContainer
virtual ~DataContainer()
Empty destructor.
Definition: correspondence_rejection.h:247
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::registration::CorrespondenceRejector::setTargetPoints
virtual void setTargetPoints(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the target cloud.
Definition: correspondence_rejection.h:168
pcl::registration::DataContainer::getTargetNormals
NormalsConstPtr getTargetNormals()
Get the normals computed on the target point cloud.
Definition: correspondence_rejection.h:315
pcl::registration::CorrespondenceRejector::~CorrespondenceRejector
virtual ~CorrespondenceRejector()
Empty destructor.
Definition: correspondence_rejection.h:72
pcl::registration::DataContainer::setInputNormals
void setInputNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
Definition: correspondence_rejection.h:301
pcl::registration::DataContainerInterface::getCorrespondenceScore
virtual double getCorrespondenceScore(int index)=0
pcl::registration::DataContainerInterface::getCorrespondenceScoreFromNormals
virtual double getCorrespondenceScoreFromNormals(const pcl::Correspondence &)=0
pcl::Correspondence::index_query
int index_query
Index of the query (source) point.
Definition: correspondence.h:61
pcl::getRejectedQueryIndices
void getRejectedQueryIndices(const pcl::Correspondences &correspondences_before, const pcl::Correspondences &correspondences_after, std::vector< int > &indices, bool presorting_required=true)
Get the query points of correspondences that are present in one correspondence vector but not in the ...
pcl::registration::CorrespondenceRejector::setSourcePoints
virtual void setSourcePoints(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the source cloud.
Definition: correspondence_rejection.h:145
pcl::registration::DataContainer::getCorrespondenceScore
double getCorrespondenceScore(int index)
Get the correspondence score for a point in the input cloud.
Definition: correspondence_rejection.h:321
pcl::CorrespondencesConstPtr
boost::shared_ptr< const Correspondences > CorrespondencesConstPtr
Definition: correspondence.h:94
pcl::registration::DataContainer::setTargetNormals
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
Definition: correspondence_rejection.h:311
pcl::registration::DataContainer::setSearchMethodTarget
void setSearchMethodTarget(const KdTreePtr &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud.
Definition: correspondence_rejection.h:286
pcl::registration::DataContainer::getInputSource
const PointCloudConstPtr getInputSource()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection.h:261
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::registration::CorrespondenceRejector::getRejectedQueryIndices
void getRejectedQueryIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
Determine the indices of query points of correspondences that have been rejected, i....
Definition: correspondence_rejection.h:121
pcl::registration::DataContainerInterface::~DataContainerInterface
virtual ~DataContainerInterface()
Definition: correspondence_rejection.h:205
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejector::CorrespondenceRejector
CorrespondenceRejector()
Empty constructor.
Definition: correspondence_rejection.h:66
pcl::registration::CorrespondenceRejector::Ptr
boost::shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:62
pcl::registration::CorrespondenceRejector::setTargetNormals
virtual void setTargetNormals(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the target normals.
Definition: correspondence_rejection.h:180
pcl::PCLPointCloud2::ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
Definition: PCLPointCloud2.h:52
pcl::registration::DataContainer::setInputTarget
void setInputTarget(const PointCloudConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
Definition: correspondence_rejection.h:268
pcl::registration::CorrespondenceRejector::requiresSourceNormals
virtual bool requiresSourceNormals() const
See if this rejector requires source normals.
Definition: correspondence_rejection.h:152
pcl::Correspondence
Correspondence represents a match between two entities (e.g., points, descriptors,...
Definition: correspondence.h:58
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::DataContainer::getCorrespondenceScoreFromNormals
double getCorrespondenceScoreFromNormals(const pcl::Correspondence &corr)
Get the correspondence score for a given pair of correspondent points based on the angle between the ...
Definition: correspondence_rejection.h:354
pcl::registration::CorrespondenceRejector::setSourceNormals
virtual void setSourceNormals(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the source normals.
Definition: correspondence_rejection.h:157
pcl::registration::CorrespondenceRejector::requiresTargetPoints
virtual bool requiresTargetPoints() const
See if this rejector requires a target cloud.
Definition: correspondence_rejection.h:163
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:59
pcl::registration::CorrespondenceRejector::applyRejection
virtual void applyRejection(Correspondences &correspondences)=0
Abstract rejection method.