Point Cloud Library (PCL)  1.11.0
correspondence_rejection_var_trimmed.h
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39 
40 #pragma once
41 
42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/memory.h> // for static_pointer_cast
44 #include <pcl/point_cloud.h>
45 
46 #include <vector>
47 
48 namespace pcl
49 {
50  namespace registration
51  {
52  /**
53  * @b CorrespondenceRejectoVarTrimmed implements a simple correspondence
54  * rejection method by considering as inliers a certain percentage of correspondences
55  * with the least distances. The percentage of inliers is computed internally as mentioned
56  * in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
57  *
58  * \note If \ref setInputCloud and \ref setInputTarget are given, then the
59  * distances between correspondences will be estimated using the given XYZ
60  * data, and not read from the set of input correspondences.
61  *
62  * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
63  * \ingroup registration
64  */
66  {
70 
71  public:
72  using Ptr = shared_ptr<CorrespondenceRejectorVarTrimmed>;
73  using ConstPtr = shared_ptr<const CorrespondenceRejectorVarTrimmed>;
74 
75  /** \brief Empty constructor. */
77  trimmed_distance_ (0),
78  factor_ (),
79  min_ratio_ (0.05),
80  max_ratio_ (0.95),
81  lambda_ (0.95)
82  {
83  rejection_name_ = "CorrespondenceRejectorVarTrimmed";
84  }
85 
86  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
87  * \param[in] original_correspondences the set of initial correspondences given
88  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
89  */
90  void
91  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
92  pcl::Correspondences& remaining_correspondences) override;
93 
94  /** \brief Get the trimmed distance used for thresholding in correspondence rejection. */
95  inline double
96  getTrimmedDistance () const { return trimmed_distance_; };
97 
98  /** \brief Provide a source point cloud dataset (must contain XYZ
99  * data!), used to compute the correspondence distance.
100  * \param[in] cloud a cloud containing XYZ data
101  */
102  template <typename PointT> inline void
104  {
105  if (!data_container_)
106  data_container_.reset (new DataContainer<PointT>);
107  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
108  }
109 
110  /** \brief Provide a source point cloud dataset (must contain XYZ
111  * data!), used to compute the correspondence distance.
112  * \param[in] cloud a cloud containing XYZ data
113  */
114  template <typename PointT>
115  PCL_DEPRECATED(1, 12, "pcl::registration::CorrespondenceRejectorVarTrimmed::setInputCloud is deprecated. Please use setInputSource instead")
116  inline void
117  setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
118  {
119  if (!data_container_)
120  data_container_.reset (new DataContainer<PointT>);
121  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
122  }
123 
124  /** \brief Provide a target point cloud dataset (must contain XYZ
125  * data!), used to compute the correspondence distance.
126  * \param[in] target a cloud containing XYZ data
127  */
128  template <typename PointT> inline void
130  {
131  if (!data_container_)
132  data_container_.reset (new DataContainer<PointT>);
133  static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
134  }
135 
136 
137 
138  /** \brief See if this rejector requires source points */
139  bool
140  requiresSourcePoints () const override
141  { return (true); }
142 
143  /** \brief Blob method for setting the source cloud */
144  void
146  {
148  fromPCLPointCloud2 (*cloud2, *cloud);
149  setInputSource<PointXYZ> (cloud);
150  }
151 
152  /** \brief See if this rejector requires a target cloud */
153  bool
154  requiresTargetPoints () const override
155  { return (true); }
156 
157  /** \brief Method for setting the target cloud */
158  void
160  {
162  fromPCLPointCloud2 (*cloud2, *cloud);
163  setInputTarget<PointXYZ> (cloud);
164  }
165 
166  /** \brief Provide a pointer to the search object used to find correspondences in
167  * the target cloud.
168  * \param[in] tree a pointer to the spatial search object.
169  * \param[in] force_no_recompute If set to true, this tree will NEVER be
170  * recomputed, regardless of calls to setInputTarget. Only use if you are
171  * confident that the tree will be set correctly.
172  */
173  template <typename PointT> inline void
175  bool force_no_recompute = false)
176  {
177  static_pointer_cast< DataContainer<PointT> >
178  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
179  }
180 
181  /** \brief Get the computed inlier ratio used for thresholding in correspondence rejection. */
182  inline double
183  getTrimFactor () const { return factor_; }
184 
185  /** brief set the minimum overlap ratio
186  * \param[in] ratio the overlap ratio [0..1]
187  */
188  inline void
189  setMinRatio (double ratio) { min_ratio_ = ratio; }
190 
191  /** brief get the minimum overlap ratio
192  */
193  inline double
194  getMinRatio () const { return min_ratio_; }
195 
196  /** brief set the maximum overlap ratio
197  * \param[in] ratio the overlap ratio [0..1]
198  */
199  inline void
200  setMaxRatio (double ratio) { max_ratio_ = ratio; }
201 
202  /** brief get the maximum overlap ratio
203  */
204  inline double
205  getMaxRatio () const { return max_ratio_; }
206 
207  protected:
208 
209  /** \brief Apply the rejection algorithm.
210  * \param[out] correspondences the set of resultant correspondences.
211  */
212  inline void
213  applyRejection (pcl::Correspondences &correspondences) override
214  {
215  getRemainingCorrespondences (*input_correspondences_, correspondences);
216  }
217 
218  /** \brief The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.
219  */
221 
222  /** \brief The factor for correspondence rejection. Only factor times the total points sorted based on
223  * the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is
224  * computed internally
225  */
226  double factor_;
227 
228  /** \brief The minimum overlap ratio between the input and target clouds
229  */
230  double min_ratio_;
231 
232  /** \brief The maximum overlap ratio between the input and target clouds
233  */
234  double max_ratio_;
235 
236  /** \brief part of the term that balances the root mean square difference. This is an internal parameter
237  */
238  double lambda_;
239 
241 
242  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
244 
245  private:
246 
247  /** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
248  */
249  inline float optimizeInlierRatio (std::vector <double> &dists) const;
250  };
251  }
252 }
253 
254 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:61
pcl
Definition: convolution.h:46
pcl::registration::CorrespondenceRejectorVarTrimmed::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::CorrespondenceRejector::ConstPtr
shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:62
pcl::registration::CorrespondenceRejectorVarTrimmed::factor_
double factor_
The factor for correspondence rejection.
Definition: correspondence_rejection_var_trimmed.h:226
pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_
double max_ratio_
The maximum overlap ratio between the input and target clouds.
Definition: correspondence_rejection_var_trimmed.h:234
pcl::registration::CorrespondenceRejectorVarTrimmed::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_var_trimmed.h:159
pcl::registration::CorrespondenceRejectorVarTrimmed::getMinRatio
double getMinRatio() const
brief get the minimum overlap ratio
Definition: correspondence_rejection_var_trimmed.h:194
pcl::registration::CorrespondenceRejectorVarTrimmed::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_var_trimmed.h:129
pcl::registration::CorrespondenceRejectorVarTrimmed::data_container_
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
Definition: correspondence_rejection_var_trimmed.h:243
pcl::registration::CorrespondenceRejectorVarTrimmed::lambda_
double lambda_
part of the term that balances the root mean square difference.
Definition: correspondence_rejection_var_trimmed.h:238
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::CorrespondenceRejectorVarTrimmed::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_var_trimmed.h:145
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
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::CorrespondenceRejectorVarTrimmed::trimmed_distance_
double trimmed_distance_
The inlier distance threshold (based on the computed trim factor) between two correspondent points in...
Definition: correspondence_rejection_var_trimmed.h:220
pcl::registration::CorrespondenceRejectorVarTrimmed::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition: correspondence_rejection_var_trimmed.h:240
pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio
void setMinRatio(double ratio)
brief set the minimum overlap ratio
Definition: correspondence_rejection_var_trimmed.h:189
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:150
pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio
void setMaxRatio(double ratio)
brief set the maximum overlap ratio
Definition: correspondence_rejection_var_trimmed.h:200
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:35
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::CorrespondenceRejectorVarTrimmed::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_var_trimmed.h:154
pcl::registration::CorrespondenceRejectorVarTrimmed::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_var_trimmed.h:103
pcl::registration::CorrespondenceRejectorVarTrimmed::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_var_trimmed.h:213
pcl::registration::CorrespondenceRejectorVarTrimmed::CorrespondenceRejectorVarTrimmed
CorrespondenceRejectorVarTrimmed()
Empty constructor.
Definition: correspondence_rejection_var_trimmed.h:76
pcl::registration::CorrespondenceRejectorVarTrimmed
CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as...
Definition: correspondence_rejection_var_trimmed.h:66
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::registration::CorrespondenceRejectorVarTrimmed::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_var_trimmed.h:174
pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimFactor
double getTrimFactor() const
Get the computed inlier ratio used for thresholding in correspondence rejection.
Definition: correspondence_rejection_var_trimmed.h:183
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_
double min_ratio_
The minimum overlap ratio between the input and target clouds.
Definition: correspondence_rejection_var_trimmed.h:230
pcl::registration::CorrespondenceRejectorVarTrimmed::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition: correspondence_rejection_var_trimmed.h:140
pcl::registration::CorrespondenceRejectorVarTrimmed::getMaxRatio
double getMaxRatio() const
brief get the maximum overlap ratio
Definition: correspondence_rejection_var_trimmed.h:205
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
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
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimmedDistance
double getTrimmedDistance() const
Get the trimmed distance used for thresholding in correspondence rejection.
Definition: correspondence_rejection_var_trimmed.h:96
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:331
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