Point Cloud Library (PCL)
1.7.0
|
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_MEDIAN_DISTANCE_H_ 00041 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_ 00042 00043 #include <pcl/registration/correspondence_rejection.h> 00044 #include <pcl/point_cloud.h> 00045 00046 namespace pcl 00047 { 00048 namespace registration 00049 { 00050 /** \brief CorrespondenceRejectorMedianDistance implements a simple correspondence 00051 * rejection method based on thresholding based on the median distance between the 00052 * correspondences. 00053 * 00054 * \note If \ref setInputCloud and \ref setInputTarget are given, then the 00055 * distances between correspondences will be estimated using the given XYZ 00056 * data, and not read from the set of input correspondences. 00057 * 00058 * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher) 00059 * \ingroup registration 00060 */ 00061 class PCL_EXPORTS CorrespondenceRejectorMedianDistance: public CorrespondenceRejector 00062 { 00063 using CorrespondenceRejector::input_correspondences_; 00064 using CorrespondenceRejector::rejection_name_; 00065 using CorrespondenceRejector::getClassName; 00066 00067 public: 00068 typedef boost::shared_ptr<CorrespondenceRejectorMedianDistance> Ptr; 00069 typedef boost::shared_ptr<const CorrespondenceRejectorMedianDistance> ConstPtr; 00070 00071 /** \brief Empty constructor. */ 00072 CorrespondenceRejectorMedianDistance () 00073 : median_distance_ (0) 00074 , factor_ (1.0) 00075 , data_container_ () 00076 { 00077 rejection_name_ = "CorrespondenceRejectorMedianDistance"; 00078 } 00079 00080 /** \brief Get a list of valid correspondences after rejection from the original set of correspondences. 00081 * \param[in] original_correspondences the set of initial correspondences given 00082 * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences 00083 */ 00084 void 00085 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00086 pcl::Correspondences& remaining_correspondences); 00087 00088 /** \brief Get the median distance used for thresholding in correspondence rejection. */ 00089 inline double 00090 getMedianDistance () const { return (median_distance_); }; 00091 00092 /** \brief Provide a source point cloud dataset (must contain XYZ 00093 * data!), used to compute the correspondence distance. 00094 * \param[in] cloud a cloud containing XYZ data 00095 */ 00096 template <typename PointT> inline void 00097 setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00098 { 00099 if (!data_container_) 00100 data_container_.reset (new DataContainer<PointT>); 00101 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud); 00102 } 00103 00104 /** \brief Provide a source point cloud dataset (must contain XYZ 00105 * data!), used to compute the correspondence distance. 00106 * \param[in] cloud a cloud containing XYZ data 00107 */ 00108 template <typename PointT> inline void 00109 setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00110 { 00111 PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ()); 00112 if (!data_container_) 00113 data_container_.reset (new DataContainer<PointT>); 00114 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud); 00115 } 00116 00117 /** \brief Provide a target point cloud dataset (must contain XYZ 00118 * data!), used to compute the correspondence distance. 00119 * \param[in] target a cloud containing XYZ data 00120 */ 00121 template <typename PointT> inline void 00122 setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target) 00123 { 00124 if (!data_container_) 00125 data_container_.reset (new DataContainer<PointT>); 00126 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target); 00127 } 00128 00129 /** \brief Provide a pointer to the search object used to find correspondences in 00130 * the target cloud. 00131 * \param[in] tree a pointer to the spatial search object. 00132 * \param[in] force_no_recompute If set to true, this tree will NEVER be 00133 * recomputed, regardless of calls to setInputTarget. Only use if you are 00134 * confident that the tree will be set correctly. 00135 */ 00136 template <typename PointT> inline void 00137 setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree, 00138 bool force_no_recompute = false) 00139 { 00140 boost::static_pointer_cast< DataContainer<PointT> > 00141 (data_container_)->setSearchMethodTarget (tree, force_no_recompute ); 00142 } 00143 00144 /** \brief Set the factor for correspondence rejection. Points with distance greater than median times factor 00145 * will be rejected 00146 * \param[in] factor value 00147 */ 00148 inline void 00149 setMedianFactor (double factor) { factor_ = factor; }; 00150 00151 /** \brief Get the factor used for thresholding in correspondence rejection. */ 00152 inline double 00153 getMedianFactor () const { return factor_; }; 00154 00155 protected: 00156 00157 /** \brief Apply the rejection algorithm. 00158 * \param[out] correspondences the set of resultant correspondences. 00159 */ 00160 inline void 00161 applyRejection (pcl::Correspondences &correspondences) 00162 { 00163 getRemainingCorrespondences (*input_correspondences_, correspondences); 00164 } 00165 00166 /** \brief The median distance threshold between two correspondent points in source <-> target. 00167 */ 00168 double median_distance_; 00169 00170 /** \brief The factor for correspondence rejection. Points with distance greater than median times factor 00171 * will be rejected 00172 */ 00173 double factor_; 00174 00175 typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr; 00176 00177 /** \brief A pointer to the DataContainer object containing the input and target point clouds */ 00178 DataContainerPtr data_container_; 00179 }; 00180 } 00181 } 00182 00183 #include <pcl/registration/impl/correspondence_rejection_median_distance.hpp> 00184 00185 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_H_