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correspondence_estimation.hpp
/*
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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_
#include <pcl/common/copy_point.h>
#include <pcl/common/io.h>
namespace pcl {
namespace registration {
template <typename PointSource, typename PointTarget, typename Scalar>
void
CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::setInputTarget(
const PointCloudTargetConstPtr& cloud)
{
if (cloud->points.empty()) {
PCL_ERROR("[pcl::registration::%s::setInputTarget] Invalid or empty point cloud "
"dataset given!\n",
getClassName().c_str());
return;
}
target_ = cloud;
// Set the internal point representation of choice
if (point_representation_)
tree_->setPointRepresentation(point_representation_);
target_cloud_updated_ = true;
}
template <typename PointSource, typename PointTarget, typename Scalar>
bool
CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initCompute()
{
if (!target_) {
PCL_ERROR("[pcl::registration::%s::compute] No input target dataset was given!\n",
getClassName().c_str());
return (false);
}
// Only update target kd-tree if a new target cloud was set
if (target_cloud_updated_ && !force_no_recompute_) {
// If the target indices have been given via setIndicesTarget
if (target_indices_)
tree_->setInputCloud(target_, target_indices_);
else
tree_->setInputCloud(target_);
target_cloud_updated_ = false;
}
return (PCLBase<PointSource>::initCompute());
}
template <typename PointSource, typename PointTarget, typename Scalar>
bool
CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initComputeReciprocal()
{
// Only update source kd-tree if a new target cloud was set
if (source_cloud_updated_ && !force_no_recompute_reciprocal_) {
if (point_representation_reciprocal_)
tree_reciprocal_->setPointRepresentation(point_representation_reciprocal_);
// If the target indices have been given via setIndicesTarget
if (indices_)
tree_reciprocal_->setInputCloud(getInputSource(), getIndicesSource());
else
tree_reciprocal_->setInputCloud(getInputSource());
source_cloud_updated_ = false;
}
return (true);
}
namespace detail {
template <
typename PointTarget,
typename PointSource,
typename Index,
typename std::enable_if_t<isSamePointType<PointSource, PointTarget>()>* = nullptr>
const PointSource&
pointCopyOrRef(typename pcl::PointCloud<PointSource>::ConstPtr& input, const Index& idx)
{
return (*input)[idx];
}
template <
typename PointTarget,
typename PointSource,
typename Index,
typename std::enable_if_t<!isSamePointType<PointSource, PointTarget>()>* = nullptr>
PointTarget
pointCopyOrRef(typename pcl::PointCloud<PointSource>::ConstPtr& input, const Index& idx)
{
// Copy the source data to a target PointTarget format so we can search in the tree
PointTarget pt;
copyPoint((*input)[idx], pt);
return pt;
}
} // namespace detail
template <typename PointSource, typename PointTarget, typename Scalar>
void
CorrespondenceEstimation<PointSource, PointTarget, Scalar>::determineCorrespondences(
pcl::Correspondences& correspondences, double max_distance)
{
if (!initCompute())
return;
correspondences.resize(indices_->size());
pcl::Indices index(1);
std::vector<float> distance(1);
pcl::Correspondence corr;
unsigned int nr_valid_correspondences = 0;
double max_dist_sqr = max_distance * max_distance;
// Iterate over the input set of source indices
for (const auto& idx : (*indices_)) {
// Check if the template types are the same. If true, avoid a copy.
// Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT
// macro!
const auto& pt = detail::pointCopyOrRef<PointTarget, PointSource>(input_, idx);
tree_->nearestKSearch(pt, 1, index, distance);
if (distance[0] > max_dist_sqr)
continue;
corr.index_query = idx;
corr.index_match = index[0];
corr.distance = distance[0];
correspondences[nr_valid_correspondences++] = corr;
}
correspondences.resize(nr_valid_correspondences);
deinitCompute();
}
template <typename PointSource, typename PointTarget, typename Scalar>
void
CorrespondenceEstimation<PointSource, PointTarget, Scalar>::
determineReciprocalCorrespondences(pcl::Correspondences& correspondences,
double max_distance)
{
if (!initCompute())
return;
// setup tree for reciprocal search
// Set the internal point representation of choice
if (!initComputeReciprocal())
return;
double max_dist_sqr = max_distance * max_distance;
correspondences.resize(indices_->size());
pcl::Indices index(1);
std::vector<float> distance(1);
pcl::Indices index_reciprocal(1);
std::vector<float> distance_reciprocal(1);
pcl::Correspondence corr;
unsigned int nr_valid_correspondences = 0;
int target_idx = 0;
// Iterate over the input set of source indices
for (const auto& idx : (*indices_)) {
// Check if the template types are the same. If true, avoid a copy.
// Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT
// macro!
const auto& pt_src = detail::pointCopyOrRef<PointTarget, PointSource>(input_, idx);
tree_->nearestKSearch(pt_src, 1, index, distance);
if (distance[0] > max_dist_sqr)
continue;
target_idx = index[0];
const auto& pt_tgt =
detail::pointCopyOrRef<PointSource, PointTarget>(target_, target_idx);
tree_reciprocal_->nearestKSearch(pt_tgt, 1, index_reciprocal, distance_reciprocal);
if (distance_reciprocal[0] > max_dist_sqr || idx != index_reciprocal[0])
continue;
corr.index_query = idx;
corr.index_match = index[0];
corr.distance = distance[0];
correspondences[nr_valid_correspondences++] = corr;
}
correspondences.resize(nr_valid_correspondences);
deinitCompute();
}
} // namespace registration
} // namespace pcl
//#define PCL_INSTANTIATE_CorrespondenceEstimation(T,U) template class PCL_EXPORTS
// pcl::registration::CorrespondenceEstimation<T,U>;
#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_ */
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
pcl::registration::CorrespondenceEstimationBase::initCompute
bool initCompute()
Internal computation initialization.
Definition correspondence_estimation.hpp:73
pcl::registration::CorrespondenceEstimationBase::PointCloudTargetConstPtr
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
Definition correspondence_estimation.h:87
pcl::registration::CorrespondenceEstimationBase::setInputTarget
void setInputTarget(const PointCloudTargetConstPtr &cloud)
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...
Definition correspondence_estimation.hpp:53
pcl::registration::CorrespondenceEstimationBase::initComputeReciprocal
bool initComputeReciprocal()
Internal computation initialization for reciprocal correspondences.
Definition correspondence_estimation.hpp:97
pcl::registration::CorrespondenceEstimation::determineCorrespondences
void determineCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the correspondences between input and target cloud.
Definition correspondence_estimation.hpp:146
pcl::registration::CorrespondenceEstimation::determineReciprocalCorrespondences
void determineReciprocalCorrespondences(pcl::Correspondences &correspondences, double max_distance=std::numeric_limits< double >::max()) override
Determine the reciprocal correspondences between input and target cloud.
Definition correspondence_estimation.hpp:183
pcl::copyPoint
void copyPoint(const PointInT &point_in, PointOutT &point_out)
Copy the fields of a source point into a target point.
Definition copy_point.hpp:137
pcl::registration::detail::pointCopyOrRef
const PointSource & pointCopyOrRef(typename pcl::PointCloud< PointSource >::ConstPtr &input, const Index &idx)
Definition correspondence_estimation.hpp:123
pcl
Definition convolution.h:46
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::Correspondence
Correspondence represents a match between two entities (e.g., points, descriptors,...
Definition correspondence.h:61
pcl::Correspondence::index_query
index_t index_query
Index of the query (source) point.
Definition correspondence.h:63
pcl::Correspondence::distance
float distance
Definition correspondence.h:69
pcl::Correspondence::index_match
index_t index_match
Index of the matching (target) point.
Definition correspondence.h:65