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correspondence_rejection_organized_boundary.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) Alexandru-Eugen Ichim
*
* All rights reserved.
*
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* modification, are permitted provided that the following conditions
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*
* * Redistributions of source code must retain the above copyright
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#pragma once
#include <pcl/registration/correspondence_rejection.h>
#include <pcl/conversions.h> // for fromPCLPointCloud2
#include <pcl/memory.h> // for static_pointer_cast
namespace pcl {
namespace registration {
/**
* @brief The CorrespondenceRejectionOrganizedBoundary class implements a simple
* correspondence rejection measure. For each pair of points in correspondence, it
* checks whether they are on the boundary of a silhouette. This is done by counting the
* number of NaN dexels in a window around the points (the threshold and window size can
* be set by the user). \note Both the source and the target clouds need to be
* organized, otherwise all the correspondences will be rejected.
*
* \author Alexandru E. Ichim
* \ingroup registration
*/
class PCL_EXPORTS CorrespondenceRejectionOrganizedBoundary
: public CorrespondenceRejector {
public:
/** @brief Empty constructor. */
CorrespondenceRejectionOrganizedBoundary() = default;
void
getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
pcl::Correspondences& remaining_correspondences) override;
inline void
setNumberOfBoundaryNaNs(int val)
{
boundary_nans_threshold_ = val;
}
template <typename PointT>
inline void
setInputSource(const typename pcl::PointCloud<PointT>::ConstPtr& cloud)
{
if (!data_container_)
data_container_.reset(new pcl::registration::DataContainer<PointT>);
static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
->setInputSource(cloud);
}
template <typename PointT>
inline void
setInputTarget(const typename pcl::PointCloud<PointT>::ConstPtr& cloud)
{
if (!data_container_)
data_container_.reset(new pcl::registration::DataContainer<PointT>);
static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
->setInputTarget(cloud);
}
/** \brief See if this rejector requires source points */
bool
requiresSourcePoints() const override
{
return (true);
}
/** \brief Blob method for setting the source cloud */
void
setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
{
PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
fromPCLPointCloud2(*cloud2, *cloud);
setInputSource<PointXYZ>(cloud);
}
/** \brief See if this rejector requires a target cloud */
bool
requiresTargetPoints() const override
{
return (true);
}
/** \brief Method for setting the target cloud */
void
setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
{
PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
fromPCLPointCloud2(*cloud2, *cloud);
setInputTarget<PointXYZ>(cloud);
}
virtual bool
updateSource(const Eigen::Matrix4d&)
{
return (true);
}
protected:
/** \brief Apply the rejection algorithm.
* \param[out] correspondences the set of resultant correspondences.
*/
inline void
applyRejection(pcl::Correspondences& correspondences) override
{
getRemainingCorrespondences(*input_correspondences_, correspondences);
}
int boundary_nans_threshold_{8};
int window_size_{5};
float depth_step_threshold_{0.025f};
using DataContainerPtr = DataContainerInterface::Ptr;
DataContainerPtr data_container_;
};
} // namespace registration
} // namespace pcl
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
pcl::registration::CorrespondenceRejectionOrganizedBoundary
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
Definition correspondence_rejection_organized_boundary.h:59
pcl::registration::CorrespondenceRejectionOrganizedBoundary::setInputTarget
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Definition correspondence_rejection_organized_boundary.h:86
pcl::registration::CorrespondenceRejectionOrganizedBoundary::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition correspondence_rejection_organized_boundary.h:112
pcl::registration::CorrespondenceRejectionOrganizedBoundary::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition correspondence_rejection_organized_boundary.h:146
pcl::registration::CorrespondenceRejectionOrganizedBoundary::setNumberOfBoundaryNaNs
void setNumberOfBoundaryNaNs(int val)
Definition correspondence_rejection_organized_boundary.h:69
pcl::registration::CorrespondenceRejectionOrganizedBoundary::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition correspondence_rejection_organized_boundary.h:103
pcl::registration::CorrespondenceRejectionOrganizedBoundary::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition correspondence_rejection_organized_boundary.h:119
pcl::registration::CorrespondenceRejectionOrganizedBoundary::updateSource
virtual bool updateSource(const Eigen::Matrix4d &)
Definition correspondence_rejection_organized_boundary.h:127
pcl::registration::CorrespondenceRejectionOrganizedBoundary::CorrespondenceRejectionOrganizedBoundary
CorrespondenceRejectionOrganizedBoundary()=default
Empty constructor.
pcl::registration::CorrespondenceRejectionOrganizedBoundary::setInputSource
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Definition correspondence_rejection_organized_boundary.h:76
pcl::registration::CorrespondenceRejectionOrganizedBoundary::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition correspondence_rejection_organized_boundary.h:137
pcl::registration::CorrespondenceRejectionOrganizedBoundary::getRemainingCorrespondences
void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
Get a list of valid correspondences after rejection from the original set of correspondences.
pcl::registration::CorrespondenceRejectionOrganizedBoundary::data_container_
DataContainerPtr data_container_
Definition correspondence_rejection_organized_boundary.h:147
pcl::registration::CorrespondenceRejectionOrganizedBoundary::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition correspondence_rejection_organized_boundary.h:96
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition correspondence_rejection.h:54
pcl::registration::DataContainer
DataContainer is a container for the input and target point clouds and implements the interface to co...
Definition correspondence_rejection.h:234
pcl::registration::DataContainerInterface::Ptr
shared_ptr< DataContainerInterface > Ptr
Definition correspondence_rejection.h:217
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46
pcl::fromPCLPointCloud2
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition conversions.h:163
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition PCLPointCloud2.h:36