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correspondence_rejection_distance.h
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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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 {
/**
* @b CorrespondenceRejectorDistance implements a simple correspondence
* rejection method based on thresholding the distances between the
* correspondences.
*
* \note If \ref setInputCloud and \ref setInputTarget are given, then the
* distances between correspondences will be estimated using the given XYZ
* data, and not read from the set of input correspondences.
*
* \author Dirk Holz, Radu B. Rusu
* \ingroup registration
*/
class PCL_EXPORTS CorrespondenceRejectorDistance : public CorrespondenceRejector {
using CorrespondenceRejector::getClassName;
using CorrespondenceRejector::input_correspondences_;
using CorrespondenceRejector::rejection_name_;
public:
using Ptr = shared_ptr<CorrespondenceRejectorDistance>;
using ConstPtr = shared_ptr<const CorrespondenceRejectorDistance>;
/** \brief Empty constructor. */
CorrespondenceRejectorDistance() : max_distance_(std::numeric_limits<float>::max())
{
rejection_name_ = "CorrespondenceRejectorDistance";
}
/** \brief Empty destructor */
~CorrespondenceRejectorDistance() override = default;
/** \brief Get a list of valid correspondences after rejection from the original set
* of correspondences. \param[in] original_correspondences the set of initial
* correspondences given \param[out] remaining_correspondences the resultant filtered
* set of remaining correspondences
*/
void
getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
pcl::Correspondences& remaining_correspondences) override;
/** \brief Set the maximum distance used for thresholding in correspondence rejection.
* \param[in] distance Distance to be used as maximum distance between
* correspondences. Correspondences with larger distances are rejected. \note
* Internally, the distance will be stored squared.
*/
virtual inline void
setMaximumDistance(float distance)
{
max_distance_ = distance * distance;
};
/** \brief Get the maximum distance used for thresholding in correspondence rejection.
*/
inline float
getMaximumDistance() const
{
return std::sqrt(max_distance_);
};
/** \brief Provide a source point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
* \param[in] cloud a cloud containing XYZ data
*/
template <typename PointT>
inline void
setInputSource(const typename pcl::PointCloud<PointT>::ConstPtr& cloud)
{
if (!data_container_)
data_container_.reset(new DataContainer<PointT>);
static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputSource(cloud);
}
/** \brief Provide a target point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
* \param[in] target a cloud containing XYZ data
*/
template <typename PointT>
inline void
setInputTarget(const typename pcl::PointCloud<PointT>::ConstPtr& target)
{
if (!data_container_)
data_container_.reset(new DataContainer<PointT>);
static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputTarget(target);
}
/** \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);
}
/** \brief Provide a pointer to the search object used to find correspondences in
* the target cloud.
* \param[in] tree a pointer to the spatial search object.
* \param[in] force_no_recompute If set to true, this tree will NEVER be
* recomputed, regardless of calls to setInputTarget. Only use if you are
* confident that the tree will be set correctly.
*/
template <typename PointT>
inline void
setSearchMethodTarget(const typename pcl::search::KdTree<PointT>::Ptr& tree,
bool force_no_recompute = false)
{
static_pointer_cast<DataContainer<PointT>>(data_container_)
->setSearchMethodTarget(tree, force_no_recompute);
}
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);
}
/** \brief The maximum distance threshold between two correspondent points in source
* <-> target. If the distance is larger than this threshold, the points will not be
* ignored in the alignment process.
*/
float max_distance_;
using DataContainerPtr = DataContainerInterface::Ptr;
/** \brief A pointer to the DataContainer object containing the input and target point
* clouds */
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:174
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:414
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:415
pcl::registration::CorrespondenceRejectorDistance::max_distance_
float max_distance_
The maximum distance threshold between two correspondent points in source <-> target.
Definition correspondence_rejection_distance.h:195
pcl::registration::CorrespondenceRejectorDistance::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition correspondence_rejection_distance.h:186
pcl::registration::CorrespondenceRejectorDistance::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition correspondence_rejection_distance.h:197
pcl::registration::CorrespondenceRejectorDistance::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_distance.h:174
pcl::registration::CorrespondenceRejectorDistance::~CorrespondenceRejectorDistance
~CorrespondenceRejectorDistance() override=default
Empty destructor.
pcl::registration::CorrespondenceRejectorDistance::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition correspondence_rejection_distance.h:135
pcl::registration::CorrespondenceRejectorDistance::getMaximumDistance
float getMaximumDistance() const
Get the maximum distance used for thresholding in correspondence rejection.
Definition correspondence_rejection_distance.h:102
pcl::registration::CorrespondenceRejectorDistance::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition correspondence_rejection_distance.h:158
pcl::registration::CorrespondenceRejectorDistance::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::CorrespondenceRejectorDistance::ConstPtr
shared_ptr< const CorrespondenceRejectorDistance > ConstPtr
Definition correspondence_rejection_distance.h:68
pcl::registration::CorrespondenceRejectorDistance::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition correspondence_rejection_distance.h:142
pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance
virtual void setMaximumDistance(float distance)
Set the maximum distance used for thresholding in correspondence rejection.
Definition correspondence_rejection_distance.h:94
pcl::registration::CorrespondenceRejectorDistance::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_distance.h:113
pcl::registration::CorrespondenceRejectorDistance::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_distance.h:126
pcl::registration::CorrespondenceRejectorDistance::Ptr
shared_ptr< CorrespondenceRejectorDistance > Ptr
Definition correspondence_rejection_distance.h:67
pcl::registration::CorrespondenceRejectorDistance::CorrespondenceRejectorDistance
CorrespondenceRejectorDistance()
Empty constructor.
Definition correspondence_rejection_distance.h:71
pcl::registration::CorrespondenceRejectorDistance::data_container_
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
Definition correspondence_rejection_distance.h:201
pcl::registration::CorrespondenceRejectorDistance::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition correspondence_rejection_distance.h:151
pcl::registration::CorrespondenceRejector::CorrespondenceRejector
CorrespondenceRejector()=default
Empty constructor.
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition correspondence_rejection.h:204
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition correspondence_rejection.h:201
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition correspondence_rejection.h:131
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
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition kdtree.h:75
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::registration
Definition convergence_criteria.h:46
pcl
Definition convolution.h:46
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition correspondence.h:89
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:229
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition PCLPointCloud2.h:36