Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/registration/include/pcl/registration/correspondence_rejection_trimmed.h
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2010-2011, Willow Garage, Inc.
00006  *  Copyright (c) 2012-, Open Perception, Inc.
00007  *
00008  *  All rights reserved.
00009  *
00010  *  Redistribution and use in source and binary forms, with or without
00011  *  modification, are permitted provided that the following conditions
00012  *  are met:
00013  *
00014  *   * Redistributions of source code must retain the above copyright
00015  *     notice, this list of conditions and the following disclaimer.
00016  *   * Redistributions in binary form must reproduce the above
00017  *     copyright notice, this list of conditions and the following
00018  *     disclaimer in the documentation and/or other materials provided
00019  *     with the distribution.
00020  *   * Neither the name of the copyright holder(s) nor the names of its
00021  *     contributors may be used to endorse or promote products derived
00022  *     from this software without specific prior written permission.
00023  *
00024  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  *  POSSIBILITY OF SUCH DAMAGE.
00036  *
00037  * $Id$
00038  *
00039  */
00040 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
00041 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
00042 
00043 #include <pcl/registration/correspondence_rejection.h>
00044 
00045 namespace pcl
00046 {
00047   namespace registration
00048   {
00049     /** \brief CorrespondenceRejectorTrimmed implements a correspondence
00050       * rejection for ICP-like registration algorithms that uses only the best
00051       * 'k' correspondences where 'k' is some estimate of the overlap between
00052       * the two point clouds being registered.
00053       *
00054       * Reference:
00055       * 'The Trimmed Iterative Closest Point Algorithm' by
00056       * D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek.
00057       * In Proceedings of the 16th International Conference on Pattern
00058       * Recognition (ICPR 2002).
00059       *
00060       * \author Dirk Holz
00061       * \ingroup registration
00062       */
00063     class PCL_EXPORTS CorrespondenceRejectorTrimmed: public CorrespondenceRejector
00064     {
00065       using CorrespondenceRejector::input_correspondences_;
00066       using CorrespondenceRejector::rejection_name_;
00067       using CorrespondenceRejector::getClassName;
00068 
00069       public:
00070         typedef boost::shared_ptr<CorrespondenceRejectorTrimmed> Ptr;
00071         typedef boost::shared_ptr<const CorrespondenceRejectorTrimmed> ConstPtr;
00072 
00073         /** \brief Empty constructor. */
00074         CorrespondenceRejectorTrimmed () : 
00075           overlap_ratio_ (0.5f),
00076           nr_min_correspondences_ (0)
00077         {
00078           rejection_name_ = "CorrespondenceRejectorTrimmed";
00079         }
00080 
00081         /** \brief Destructor. */
00082         virtual ~CorrespondenceRejectorTrimmed () {}
00083 
00084         /** \brief Set the expected ratio of overlap between point clouds (in
00085           * terms of correspondences).
00086           * \param[in] ratio ratio of overlap between 0 (no overlap, no
00087           * correspondences) and 1 (full overlap, all correspondences)
00088           */
00089         virtual inline void 
00090         setOverlapRatio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };
00091 
00092         /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
00093         inline float 
00094         getOverlapRatio () { return overlap_ratio_; };
00095 
00096         /** \brief Set a minimum number of correspondences. If the specified overlap ratio causes to have
00097           * less correspondences,  \a CorrespondenceRejectorTrimmed will try to return at least
00098           * \a nr_min_correspondences_ correspondences (or all correspondences in case \a nr_min_correspondences_
00099           * is less than the number of given correspondences). 
00100           * \param[in] min_correspondences the minimum number of correspondences
00101           */
00102         inline void 
00103         setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };
00104 
00105         /** \brief Get the minimum number of correspondences. */
00106         inline unsigned int 
00107         getMinCorrespondences () { return nr_min_correspondences_; };
00108 
00109 
00110         /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
00111           * \param[in] original_correspondences the set of initial correspondences given
00112           * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
00113           */
00114         void
00115         getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
00116                                      pcl::Correspondences& remaining_correspondences);
00117 
00118       protected:
00119 
00120         /** \brief Apply the rejection algorithm.
00121           * \param[out] correspondences the set of resultant correspondences.
00122           */
00123         inline void 
00124         applyRejection (pcl::Correspondences &correspondences)
00125         {
00126           getRemainingCorrespondences (*input_correspondences_, correspondences);
00127         }
00128 
00129         /** Overlap Ratio in [0..1] */
00130         float overlap_ratio_;
00131 
00132         /** Minimum number of correspondences. */
00133         unsigned int nr_min_correspondences_;
00134     };
00135 
00136   }
00137 }
00138 
00139 #include <pcl/registration/impl/correspondence_rejection_trimmed.hpp>
00140 
00141 #endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_