Point Cloud Library (PCL)  1.11.1
correspondence_rejection_median_distance.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/memory.h> // for static_pointer_cast
45 #include <pcl/point_cloud.h>
46 
47 
48 namespace pcl
49 {
50  namespace registration
51  {
52  /** \brief CorrespondenceRejectorMedianDistance implements a simple correspondence
53  * rejection method based on thresholding based on the median distance between the
54  * correspondences.
55  *
56  * \note If \ref setInputCloud and \ref setInputTarget are given, then the
57  * distances between correspondences will be estimated using the given XYZ
58  * data, and not read from the set of input correspondences.
59  *
60  * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
61  * \ingroup registration
62  */
64  {
68 
69  public:
70  using Ptr = shared_ptr<CorrespondenceRejectorMedianDistance>;
71  using ConstPtr = shared_ptr<const CorrespondenceRejectorMedianDistance>;
72 
73  /** \brief Empty constructor. */
75  : median_distance_ (0)
76  , factor_ (1.0)
77  {
78  rejection_name_ = "CorrespondenceRejectorMedianDistance";
79  }
80 
81  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
82  * \param[in] original_correspondences the set of initial correspondences given
83  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
84  */
85  void
86  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
87  pcl::Correspondences& remaining_correspondences) override;
88 
89  /** \brief Get the median distance used for thresholding in correspondence rejection. */
90  inline double
91  getMedianDistance () const { return (median_distance_); };
92 
93  /** \brief Provide a source point cloud dataset (must contain XYZ
94  * data!), used to compute the correspondence distance.
95  * \param[in] cloud a cloud containing XYZ data
96  */
97  template <typename PointT> inline void
99  {
100  if (!data_container_)
101  data_container_.reset (new DataContainer<PointT>);
102  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
103  }
104 
105  /** \brief Provide a source point cloud dataset (must contain XYZ
106  * data!), used to compute the correspondence distance.
107  * \param[in] cloud a cloud containing XYZ data
108  */
109  template <typename PointT>
110  PCL_DEPRECATED(1, 12, "pcl::registration::CorrespondenceRejectorMedianDistance::setInputCloud is deprecated. Please use setInputSource instead")
111  inline void
112  setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
113  {
114  if (!data_container_)
115  data_container_.reset (new DataContainer<PointT>);
116  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
117  }
118 
119  /** \brief Provide a target point cloud dataset (must contain XYZ
120  * data!), used to compute the correspondence distance.
121  * \param[in] target a cloud containing XYZ data
122  */
123  template <typename PointT> inline void
125  {
126  if (!data_container_)
127  data_container_.reset (new DataContainer<PointT>);
128  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
129  }
130 
131  /** \brief See if this rejector requires source points */
132  bool
133  requiresSourcePoints () const override
134  { return (true); }
135 
136  /** \brief Blob method for setting the source cloud */
137  void
139  {
141  fromPCLPointCloud2 (*cloud2, *cloud);
142  setInputSource<PointXYZ> (cloud);
143  }
144 
145  /** \brief See if this rejector requires a target cloud */
146  bool
147  requiresTargetPoints () const override
148  { return (true); }
149 
150  /** \brief Method for setting the target cloud */
151  void
153  {
155  fromPCLPointCloud2 (*cloud2, *cloud);
156  setInputTarget<PointXYZ> (cloud);
157  }
158 
159  /** \brief Provide a pointer to the search object used to find correspondences in
160  * the target cloud.
161  * \param[in] tree a pointer to the spatial search object.
162  * \param[in] force_no_recompute If set to true, this tree will NEVER be
163  * recomputed, regardless of calls to setInputTarget. Only use if you are
164  * confident that the tree will be set correctly.
165  */
166  template <typename PointT> inline void
168  bool force_no_recompute = false)
169  {
170  static_pointer_cast< DataContainer<PointT> >
171  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
172  }
173 
174  /** \brief Set the factor for correspondence rejection. Points with distance greater than median times factor
175  * will be rejected
176  * \param[in] factor value
177  */
178  inline void
179  setMedianFactor (double factor) { factor_ = factor; };
180 
181  /** \brief Get the factor used for thresholding in correspondence rejection. */
182  inline double
183  getMedianFactor () const { return factor_; };
184 
185  protected:
186 
187  /** \brief Apply the rejection algorithm.
188  * \param[out] correspondences the set of resultant correspondences.
189  */
190  inline void
191  applyRejection (pcl::Correspondences &correspondences) override
192  {
193  getRemainingCorrespondences (*input_correspondences_, correspondences);
194  }
195 
196  /** \brief The median distance threshold between two correspondent points in source <-> target.
197  */
199 
200  /** \brief The factor for correspondence rejection. Points with distance greater than median times factor
201  * will be rejected
202  */
203  double factor_;
204 
206 
207  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
209  };
210  }
211 }
212 
213 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:61
pcl
Definition: convolution.h:46
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:208
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:147
pcl::registration::CorrespondenceRejectorMedianDistance::factor_
double factor_
The factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:203
pcl::registration::CorrespondenceRejectorMedianDistance::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::CorrespondenceRejectorMedianDistance::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition: correspondence_rejection_median_distance.h:205
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:181
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:629
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:75
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:167
PCL_DEPRECATED
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
Definition: pcl_macros.h:147
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:124
pcl::registration::CorrespondenceRejectorMedianDistance
CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thr...
Definition: correspondence_rejection_median_distance.h:64
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:35
pcl::registration::CorrespondenceRejectorMedianDistance::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_median_distance.h:138
pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor
void setMedianFactor(double factor)
Set the factor for correspondence rejection.
Definition: correspondence_rejection_median_distance.h:179
pcl::registration::DataContainer
DataContainer is a container for the input and target point clouds and implements the interface to co...
Definition: correspondence_rejection.h:217
pcl::registration::CorrespondenceRejectorMedianDistance::CorrespondenceRejectorMedianDistance
CorrespondenceRejectorMedianDistance()
Empty constructor.
Definition: correspondence_rejection_median_distance.h:74
pcl::registration::CorrespondenceRejectorMedianDistance::getMedianFactor
double getMedianFactor() const
Get the factor used for thresholding in correspondence rejection.
Definition: correspondence_rejection_median_distance.h:183
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:98
pcl::registration::CorrespondenceRejectorMedianDistance::getMedianDistance
double getMedianDistance() const
Get the median distance used for thresholding in correspondence rejection.
Definition: correspondence_rejection_median_distance.h:91
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorMedianDistance::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_median_distance.h:191
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:430
pcl::registration::CorrespondenceRejectorMedianDistance::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_median_distance.h:152
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:90
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:133
memory.h
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:328
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:59
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::registration::CorrespondenceRejectorMedianDistance::median_distance_
double median_distance_
The median distance threshold between two correspondent points in source <-> target.
Definition: correspondence_rejection_median_distance.h:198