Point Cloud Library (PCL)  1.10.1
correspondence_rejection_median_distance.h
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40 
41 #pragma once
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:
70 
71  /** \brief Empty constructor. */
73  : median_distance_ (0)
74  , factor_ (1.0)
75  {
76  rejection_name_ = "CorrespondenceRejectorMedianDistance";
77  }
78 
79  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
80  * \param[in] original_correspondences the set of initial correspondences given
81  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
82  */
83  void
84  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
85  pcl::Correspondences& remaining_correspondences) override;
86 
87  /** \brief Get the median distance used for thresholding in correspondence rejection. */
88  inline double
89  getMedianDistance () const { return (median_distance_); };
90 
91  /** \brief Provide a source point cloud dataset (must contain XYZ
92  * data!), used to compute the correspondence distance.
93  * \param[in] cloud a cloud containing XYZ data
94  */
95  template <typename PointT> inline void
97  {
98  if (!data_container_)
99  data_container_.reset (new DataContainer<PointT>);
100  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
101  }
102 
103  /** \brief Provide a source point cloud dataset (must contain XYZ
104  * data!), used to compute the correspondence distance.
105  * \param[in] cloud a cloud containing XYZ data
106  */
107  template <typename PointT> inline void
109  {
110  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
111  if (!data_container_)
112  data_container_.reset (new DataContainer<PointT>);
113  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
114  }
115 
116  /** \brief Provide a target point cloud dataset (must contain XYZ
117  * data!), used to compute the correspondence distance.
118  * \param[in] target a cloud containing XYZ data
119  */
120  template <typename PointT> inline void
122  {
123  if (!data_container_)
124  data_container_.reset (new DataContainer<PointT>);
125  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
126  }
127 
128  /** \brief See if this rejector requires source points */
129  bool
130  requiresSourcePoints () const override
131  { return (true); }
132 
133  /** \brief Blob method for setting the source cloud */
134  void
136  {
138  fromPCLPointCloud2 (*cloud2, *cloud);
139  setInputSource<PointXYZ> (cloud);
140  }
141 
142  /** \brief See if this rejector requires a target cloud */
143  bool
144  requiresTargetPoints () const override
145  { return (true); }
146 
147  /** \brief Method for setting the target cloud */
148  void
150  {
152  fromPCLPointCloud2 (*cloud2, *cloud);
153  setInputTarget<PointXYZ> (cloud);
154  }
155 
156  /** \brief Provide a pointer to the search object used to find correspondences in
157  * the target cloud.
158  * \param[in] tree a pointer to the spatial search object.
159  * \param[in] force_no_recompute If set to true, this tree will NEVER be
160  * recomputed, regardless of calls to setInputTarget. Only use if you are
161  * confident that the tree will be set correctly.
162  */
163  template <typename PointT> inline void
165  bool force_no_recompute = false)
166  {
167  boost::static_pointer_cast< DataContainer<PointT> >
168  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
169  }
170 
171  /** \brief Set the factor for correspondence rejection. Points with distance greater than median times factor
172  * will be rejected
173  * \param[in] factor value
174  */
175  inline void
176  setMedianFactor (double factor) { factor_ = factor; };
177 
178  /** \brief Get the factor used for thresholding in correspondence rejection. */
179  inline double
180  getMedianFactor () const { return factor_; };
181 
182  protected:
183 
184  /** \brief Apply the rejection algorithm.
185  * \param[out] correspondences the set of resultant correspondences.
186  */
187  inline void
188  applyRejection (pcl::Correspondences &correspondences) override
189  {
190  getRemainingCorrespondences (*input_correspondences_, correspondences);
191  }
192 
193  /** \brief The median distance threshold between two correspondent points in source <-> target.
194  */
196 
197  /** \brief The factor for correspondence rejection. Points with distance greater than median times factor
198  * will be rejected
199  */
200  double factor_;
201 
203 
204  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
206  };
207  }
208 }
209 
210 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:61
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::CorrespondenceRejector::ConstPtr
shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:62
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:205
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: correspondence_rejection.h:132
pcl::registration::CorrespondenceRejectorMedianDistance::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_median_distance.h:144
pcl::registration::CorrespondenceRejectorMedianDistance::factor_
double factor_
The factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:200
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:108
pcl::registration::CorrespondenceRejectorMedianDistance::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition: correspondence_rejection_median_distance.h:202
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:78
pcl::registration::DataContainerInterface::Ptr
shared_ptr< DataContainerInterface > Ptr
Definition: correspondence_rejection.h:202
pcl::registration::CorrespondenceRejectorMedianDistance::setSearchMethodTarget
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.
Definition: correspondence_rejection_median_distance.h:164
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:121
pcl::registration::CorrespondenceRejectorMedianDistance
CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thr...
Definition: correspondence_rejection_median_distance.h:61
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:34
pcl::registration::CorrespondenceRejectorMedianDistance::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_median_distance.h:135
pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor
void setMedianFactor(double factor)
Set the factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:176
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::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:180
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:96
pcl::registration::CorrespondenceRejectorMedianDistance::getMedianDistance
double getMedianDistance() const
Get the median distance used for thresholding in correspondence rejection.
Definition: correspondence_rejection_median_distance.h:89
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
pcl::registration::CorrespondenceRejectorMedianDistance::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_median_distance.h:188
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
pcl::registration::CorrespondenceRejectorMedianDistance::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_median_distance.h:149
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition: correspondence_rejection.h:188
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition: correspondence_rejection.h:185
pcl::registration::CorrespondenceRejectorMedianDistance::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition: correspondence_rejection_median_distance.h:130
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:271
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:58
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:168
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:108
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:195