Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Open Perception, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ 00040 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ 00041 00042 #include <pcl/registration/correspondence_rejection.h> 00043 #include <pcl/point_cloud.h> 00044 00045 #include <vector> 00046 00047 namespace pcl 00048 { 00049 namespace registration 00050 { 00051 /** 00052 * @b CorrespondenceRejectoVarTrimmed implements a simple correspondence 00053 * rejection method by considering as inliers a certain percentage of correspondences 00054 * with the least distances. The percentage of inliers is computed internally as mentioned 00055 * in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al' 00056 * 00057 * \note If \ref setInputCloud and \ref setInputTarget are given, then the 00058 * distances between correspondences will be estimated using the given XYZ 00059 * data, and not read from the set of input correspondences. 00060 * 00061 * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher) 00062 * \ingroup registration 00063 */ 00064 class PCL_EXPORTS CorrespondenceRejectorVarTrimmed: public CorrespondenceRejector 00065 { 00066 using CorrespondenceRejector::input_correspondences_; 00067 using CorrespondenceRejector::rejection_name_; 00068 using CorrespondenceRejector::getClassName; 00069 00070 public: 00071 typedef boost::shared_ptr<CorrespondenceRejectorVarTrimmed> Ptr; 00072 typedef boost::shared_ptr<const CorrespondenceRejectorVarTrimmed> ConstPtr; 00073 00074 /** \brief Empty constructor. */ 00075 CorrespondenceRejectorVarTrimmed () : 00076 trimmed_distance_ (0), 00077 factor_ (), 00078 min_ratio_ (0.05), 00079 max_ratio_ (0.95), 00080 lambda_ (0.95), 00081 data_container_ () 00082 { 00083 rejection_name_ = "CorrespondenceRejectorVarTrimmed"; 00084 } 00085 00086 /** \brief Get a list of valid correspondences after rejection from the original set of correspondences. 00087 * \param[in] original_correspondences the set of initial correspondences given 00088 * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences 00089 */ 00090 void 00091 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00092 pcl::Correspondences& remaining_correspondences); 00093 00094 /** \brief Get the trimmed distance used for thresholding in correspondence rejection. */ 00095 inline double 00096 getTrimmedDistance () const { return trimmed_distance_; }; 00097 00098 /** \brief Provide a source point cloud dataset (must contain XYZ 00099 * data!), used to compute the correspondence distance. 00100 * \param[in] cloud a cloud containing XYZ data 00101 */ 00102 template <typename PointT> inline void 00103 setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00104 { 00105 if (!data_container_) 00106 data_container_.reset (new DataContainer<PointT>); 00107 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud); 00108 } 00109 00110 /** \brief Provide a source point cloud dataset (must contain XYZ 00111 * data!), used to compute the correspondence distance. 00112 * \param[in] cloud a cloud containing XYZ data 00113 */ 00114 template <typename PointT> inline void 00115 setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00116 { 00117 PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ()); 00118 if (!data_container_) 00119 data_container_.reset (new DataContainer<PointT>); 00120 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud); 00121 } 00122 00123 /** \brief Provide a target point cloud dataset (must contain XYZ 00124 * data!), used to compute the correspondence distance. 00125 * \param[in] target a cloud containing XYZ data 00126 */ 00127 template <typename PointT> inline void 00128 setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target) 00129 { 00130 if (!data_container_) 00131 data_container_.reset (new DataContainer<PointT>); 00132 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target); 00133 } 00134 00135 /** \brief Provide a pointer to the search object used to find correspondences in 00136 * the target cloud. 00137 * \param[in] tree a pointer to the spatial search object. 00138 * \param[in] force_no_recompute If set to true, this tree will NEVER be 00139 * recomputed, regardless of calls to setInputTarget. Only use if you are 00140 * confident that the tree will be set correctly. 00141 */ 00142 template <typename PointT> inline void 00143 setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree, 00144 bool force_no_recompute = false) 00145 { 00146 boost::static_pointer_cast< DataContainer<PointT> > 00147 (data_container_)->setSearchMethodTarget (tree, force_no_recompute ); 00148 } 00149 00150 /** \brief Get the computed inlier ratio used for thresholding in correspondence rejection. */ 00151 inline double 00152 getTrimFactor () const { return factor_; } 00153 00154 /** brief set the minimum overlap ratio 00155 * \param[in] ratio the overlap ratio [0..1] 00156 */ 00157 inline void 00158 setMinRatio (double ratio) { min_ratio_ = ratio; } 00159 00160 /** brief get the minimum overlap ratio 00161 */ 00162 inline double 00163 getMinRatio () const { return min_ratio_; } 00164 00165 /** brief set the maximum overlap ratio 00166 * \param[in] ratio the overlap ratio [0..1] 00167 */ 00168 inline void 00169 setMaxRatio (double ratio) { max_ratio_ = ratio; } 00170 00171 /** brief get the maximum overlap ratio 00172 */ 00173 inline double 00174 getMaxRatio () const { return max_ratio_; } 00175 00176 protected: 00177 00178 /** \brief Apply the rejection algorithm. 00179 * \param[out] correspondences the set of resultant correspondences. 00180 */ 00181 inline void 00182 applyRejection (pcl::Correspondences &correspondences) 00183 { 00184 getRemainingCorrespondences (*input_correspondences_, correspondences); 00185 } 00186 00187 /** \brief The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target. 00188 */ 00189 double trimmed_distance_; 00190 00191 /** \brief The factor for correspondence rejection. Only factor times the total points sorted based on 00192 * the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is 00193 * computed internally 00194 */ 00195 double factor_; 00196 00197 /** \brief The minimum overlap ratio between the input and target clouds 00198 */ 00199 double min_ratio_; 00200 00201 /** \brief The maximum overlap ratio between the input and target clouds 00202 */ 00203 double max_ratio_; 00204 00205 /** \brief part of the term that balances the root mean square difference. This is an internal parameter 00206 */ 00207 double lambda_; 00208 00209 typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr; 00210 00211 /** \brief A pointer to the DataContainer object containing the input and target point clouds */ 00212 DataContainerPtr data_container_; 00213 00214 private: 00215 00216 /** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al' 00217 */ 00218 inline float optimizeInlierRatio (std::vector <double> &dists); 00219 }; 00220 } 00221 } 00222 00223 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp> 00224 00225 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_