Point Cloud Library (PCL)  1.14.1-dev
correspondence_rejection_var_trimmed.h
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39 
40 #pragma once
41 
42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/conversions.h> // for fromPCLPointCloud2
44 #include <pcl/memory.h> // for static_pointer_cast
45 #include <pcl/point_cloud.h>
46 
47 #include <vector>
48 
49 namespace pcl {
50 namespace registration {
51 /**
52  * @b CorrespondenceRejectoVarTrimmed implements a simple correspondence
53  * rejection method by considering as inliers a certain percentage of correspondences
54  * with the least distances. The percentage of inliers is computed internally as
55  * mentioned in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M.
56  * 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
63  * (https://github.com/ethz-asl/libpointmatcher) \ingroup registration
64  */
69 
70 public:
71  using Ptr = shared_ptr<CorrespondenceRejectorVarTrimmed>;
72  using ConstPtr = shared_ptr<const CorrespondenceRejectorVarTrimmed>;
73 
74  /** \brief Empty constructor. */
76  {
77  rejection_name_ = "CorrespondenceRejectorVarTrimmed";
78  }
79 
80  /** \brief Get a list of valid correspondences after rejection from the original set
81  * of correspondences. \param[in] original_correspondences the set of initial
82  * correspondences given \param[out] remaining_correspondences the resultant filtered
83  * 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 trimmed distance used for thresholding in correspondence rejection.
90  */
91  inline double
93  {
94  return trimmed_distance_;
95  };
96 
97  /** \brief Provide a source point cloud dataset (must contain XYZ
98  * data!), used to compute the correspondence distance.
99  * \param[in] cloud a cloud containing XYZ data
100  */
101  template <typename PointT>
102  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 target point cloud dataset (must contain XYZ
111  * data!), used to compute the correspondence distance.
112  * \param[in] target a cloud containing XYZ data
113  */
114  template <typename PointT>
115  inline void
117  {
118  if (!data_container_)
119  data_container_.reset(new DataContainer<PointT>);
120  static_pointer_cast<DataContainer<PointT>>(data_container_)->setInputTarget(target);
121  }
122 
123  /** \brief See if this rejector requires source points */
124  bool
125  requiresSourcePoints() const override
126  {
127  return (true);
128  }
129 
130  /** \brief Blob method for setting the source cloud */
131  void
133  {
135  fromPCLPointCloud2(*cloud2, *cloud);
136  setInputSource<PointXYZ>(cloud);
137  }
138 
139  /** \brief See if this rejector requires a target cloud */
140  bool
141  requiresTargetPoints() const override
142  {
143  return (true);
144  }
145 
146  /** \brief Method for setting the target cloud */
147  void
149  {
151  fromPCLPointCloud2(*cloud2, *cloud);
152  setInputTarget<PointXYZ>(cloud);
153  }
154 
155  /** \brief Provide a pointer to the search object used to find correspondences in
156  * the target cloud.
157  * \param[in] tree a pointer to the spatial search object.
158  * \param[in] force_no_recompute If set to true, this tree will NEVER be
159  * recomputed, regardless of calls to setInputTarget. Only use if you are
160  * confident that the tree will be set correctly.
161  */
162  template <typename PointT>
163  inline void
165  bool force_no_recompute = false)
166  {
167  static_pointer_cast<DataContainer<PointT>>(data_container_)
168  ->setSearchMethodTarget(tree, force_no_recompute);
169  }
170 
171  /** \brief Get the computed inlier ratio used for thresholding in correspondence
172  * rejection. */
173  inline double
175  {
176  return factor_;
177  }
178 
179  /** brief set the minimum overlap ratio
180  * \param[in] ratio the overlap ratio [0..1]
181  */
182  inline void
183  setMinRatio(double ratio)
184  {
185  min_ratio_ = ratio;
186  }
187 
188  /** brief get the minimum overlap ratio
189  */
190  inline double
191  getMinRatio() const
192  {
193  return min_ratio_;
194  }
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)
201  {
202  max_ratio_ = ratio;
203  }
204 
205  /** brief get the maximum overlap ratio
206  */
207  inline double
208  getMaxRatio() const
209  {
210  return max_ratio_;
211  }
212 
213 protected:
214  /** \brief Apply the rejection algorithm.
215  * \param[out] correspondences the set of resultant correspondences.
216  */
217  inline void
218  applyRejection(pcl::Correspondences& correspondences) override
219  {
220  getRemainingCorrespondences(*input_correspondences_, correspondences);
221  }
222 
223  /** \brief The inlier distance threshold (based on the computed trim factor) between
224  * two correspondent points in source <-> target.
225  */
226  double trimmed_distance_{0.0};
227 
228  /** \brief The factor for correspondence rejection. Only factor times the total points
229  * sorted based on the correspondence distances will be considered as inliers.
230  * Remaining points are rejected. This factor is computed internally
231  */
232  double factor_{0.0};
233 
234  /** \brief The minimum overlap ratio between the input and target clouds
235  */
236  double min_ratio_{0.05};
237 
238  /** \brief The maximum overlap ratio between the input and target clouds
239  */
240  double max_ratio_{0.95};
241 
242  /** \brief part of the term that balances the root mean square difference. This is an
243  * internal parameter
244  */
245  double lambda_{0.95};
246 
248 
249  /** \brief A pointer to the DataContainer object containing the input and target point
250  * clouds */
252 
253 private:
254  /** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust
255  * ICP for minimizing Fractional RMSD, J. M. Philips et al'
256  */
257  inline float
258  optimizeInlierRatio(std::vector<double>& dists) const;
259 };
260 } // namespace registration
261 } // namespace pcl
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
CorrespondenceRejector represents the base class for correspondence rejection methods
shared_ptr< const CorrespondenceRejector > ConstPtr
CorrespondencesConstPtr input_correspondences_
The input correspondences.
const std::string & getClassName() const
Get a string representation of the name of this class.
shared_ptr< CorrespondenceRejector > Ptr
std::string rejection_name_
The name of the rejection method.
CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as...
bool requiresSourcePoints() const override
See if this rejector requires source points.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void setMaxRatio(double ratio)
brief set the maximum overlap ratio
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...
double getMaxRatio() const
brief get the maximum overlap ratio
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.
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...
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
double getTrimmedDistance() const
Get the trimmed distance used for thresholding in correspondence rejection.
void setMinRatio(double ratio)
brief set the minimum overlap ratio
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
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.
double getMinRatio() const
brief get the minimum overlap ratio
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
double getTrimFactor() const
Get the computed inlier ratio used for thresholding in correspondence rejection.
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< DataContainerInterface > Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:75
Defines functions, macros and traits for allocating and using memory.
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition: conversions.h:229
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
#define PCL_EXPORTS
Definition: pcl_macros.h:323
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr