Point Cloud Library (PCL)
1.10.1
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43 #include <pcl/registration/correspondence_types.h>
44 #include <pcl/registration/correspondence_sorting.h>
45 #include <pcl/console/print.h>
46 #include <pcl/common/transforms.h>
47 #include <pcl/point_cloud.h>
48 #include <pcl/search/kdtree.h>
52 namespace registration
119 std::vector<int>& indices)
123 PCL_WARN (
"[pcl::registration::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n",
getClassName ().c_str ());
131 inline const std::string&
144 PCL_WARN (
"[pcl::registration::%s::setSourcePoints] This class does not require an input source cloud",
getClassName ().c_str ());
156 PCL_WARN (
"[pcl::registration::%s::setSourceNormals] This class does not require input source normals",
getClassName ().c_str ());
167 PCL_WARN (
"[pcl::registration::%s::setTargetPoints] This class does not require an input target cloud",
getClassName ().c_str ());
179 PCL_WARN (
"[pcl::registration::%s::setTargetNormals] This class does not require input target normals",
getClassName ().c_str ());
215 template <
typename Po
intT,
typename NormalT = pcl::Po
intNormal>
233 , input_transformed_ ()
236 , input_normals_transformed_ ()
239 , class_name_ (
"DataContainer")
240 , needs_normals_ (needs_normals)
241 , target_cloud_updated_ (true)
242 , force_no_recompute_ (false)
260 inline PointCloudConstPtr
const
271 target_cloud_updated_ =
true;
275 inline PointCloudConstPtr
const
287 bool force_no_recompute =
false)
290 if (force_no_recompute)
292 force_no_recompute_ =
true;
294 target_cloud_updated_ =
true;
304 inline NormalsConstPtr
314 inline NormalsConstPtr
323 if ( target_cloud_updated_ && !force_no_recompute_ )
325 tree_->setInputCloud (target_);
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 return (std::numeric_limits<double>::max ());
344 return ((src.getVector4fMap () - tgt.getVector4fMap ()).squaredNorm ());
356 assert (input_normals_ && target_normals_ &&
"Normals are not set for the input and target point clouds");
359 return (
double ((src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2])));
364 PointCloudConstPtr input_;
367 PointCloudPtr input_transformed_;
370 PointCloudConstPtr target_;
373 NormalsConstPtr input_normals_;
376 NormalsPtr input_normals_transformed_;
379 NormalsConstPtr target_normals_;
385 std::string class_name_;
392 bool target_cloud_updated_;
396 bool force_no_recompute_;
401 inline const std::string&
402 getClassName ()
const {
return (class_name_); }
shared_ptr< CorrespondenceRejector > Ptr
double getCorrespondenceScoreFromNormals(const pcl::Correspondence &corr) override
Get the correspondence score for a given pair of correspondent points based on the angle between the ...
shared_ptr< const DataContainerInterface > ConstPtr
This file defines compatibility wrappers for low level I/O functions.
int index_match
Index of the matching (target) point.
A point structure representing normal coordinates and the surface curvature estimate.
virtual void setInputCorrespondences(const CorrespondencesConstPtr &correspondences)
Provide a pointer to the vector of the input correspondences.
virtual bool requiresTargetNormals() const
See if this rejector requires target normals.
KdTree represents the base spatial locator class for kd-tree implementations.
shared_ptr< const CorrespondenceRejector > ConstPtr
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.
shared_ptr< const Correspondences > CorrespondencesConstPtr
const std::string & getClassName() const
Get a string representation of the name of this class.
NormalsConstPtr getInputNormals()
Get the normals computed on the input point cloud.
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< KdTree< PointT, Tree > > Ptr
shared_ptr< DataContainerInterface > Ptr
const PointCloudConstPtr getInputTarget()
Get a pointer to the input point cloud dataset target.
void setInputSource(const PointCloudConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
DataContainer(bool needs_normals=false)
Empty constructor.
virtual bool requiresSourcePoints() const
See if this rejector requires source points.
void getCorrespondences(pcl::Correspondences &correspondences)
Run correspondence rejection.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
DataContainerInterface provides a generic interface for computing correspondence scores between corre...
CorrespondencesConstPtr getInputCorrespondences()
Get a pointer to the vector of the input correspondences.
double getCorrespondenceScore(int index) override
Get the correspondence score for a point in the input cloud.
DataContainer is a container for the input and target point clouds and implements the interface to co...
virtual void setTargetPoints(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the target cloud.
NormalsConstPtr getTargetNormals()
Get the normals computed on the target point cloud.
virtual ~CorrespondenceRejector()
Empty destructor.
void setInputNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
virtual double getCorrespondenceScore(int index)=0
virtual double getCorrespondenceScoreFromNormals(const pcl::Correspondence &)=0
int index_query
Index of the query (source) point.
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 ...
virtual void setSourcePoints(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the source cloud.
void setTargetNormals(const NormalsConstPtr &normals)
Set the normals computed on the target point cloud.
~DataContainer()
Empty destructor.
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.
const PointCloudConstPtr getInputSource()
Get a pointer to the input point cloud dataset target.
void getRejectedQueryIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
Determine the indices of query points of correspondences that have been rejected, i....
virtual ~DataContainerInterface()=default
shared_ptr< PointCloud< PointT > > Ptr
CorrespondenceRejector()
Empty constructor.
virtual void setTargetNormals(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the target normals.
shared_ptr< const PointCloud< PointT > > ConstPtr
void setInputTarget(const PointCloudConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
virtual bool requiresSourceNormals() const
See if this rejector requires source normals.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Correspondence represents a match between two entities (e.g., points, descriptors,...
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
double getCorrespondenceScore(const pcl::Correspondence &corr) override
Get the correspondence score for a given pair of correspondent points.
virtual void setSourceNormals(pcl::PCLPointCloud2::ConstPtr)
Abstract method for setting the source normals.
virtual bool requiresTargetPoints() const
See if this rejector requires a target cloud.
CorrespondenceRejector represents the base class for correspondence rejection methods
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
virtual void applyRejection(Correspondences &correspondences)=0
Abstract rejection method.