Point Cloud Library (PCL)  1.9.1
correspondence_rejection_surface_normal.h
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39 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
40 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_H_
41 
42 #include <pcl/registration/correspondence_rejection.h>
43 #include <pcl/point_cloud.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /**
50  * @b CorrespondenceRejectorSurfaceNormal implements a simple correspondence
51  * rejection method based on the angle between the normals at correspondent points.
52  *
53  * \note If \ref setInputCloud and \ref setInputTarget are given, then the
54  * distances between correspondences will be estimated using the given XYZ
55  * data, and not read from the set of input correspondences.
56  *
57  * \author Aravindhan K Krishnan (original code from libpointmatcher: https://github.com/ethz-asl/libpointmatcher)
58  * \ingroup registration
59  */
61  {
65 
66  public:
67  typedef boost::shared_ptr<CorrespondenceRejectorSurfaceNormal> Ptr;
68  typedef boost::shared_ptr<const CorrespondenceRejectorSurfaceNormal> ConstPtr;
69 
70  /** \brief Empty constructor. Sets the threshold to 1.0. */
72  : threshold_ (1.0)
73  , data_container_ ()
74  {
75  rejection_name_ = "CorrespondenceRejectorSurfaceNormal";
76  }
77 
78  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
79  * \param[in] original_correspondences the set of initial correspondences given
80  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
81  */
82  void
83  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
84  pcl::Correspondences& remaining_correspondences);
85 
86  /** \brief Set the thresholding angle between the normals for correspondence rejection.
87  * \param[in] threshold cosine of the thresholding angle between the normals for rejection
88  */
89  inline void
90  setThreshold (double threshold) { threshold_ = threshold; };
91 
92  /** \brief Get the thresholding angle between the normals for correspondence rejection. */
93  inline double
94  getThreshold () const { return threshold_; };
95 
96  /** \brief Initialize the data container object for the point type and the normal type. */
97  template <typename PointT, typename NormalT> inline void
99  {
100  data_container_.reset (new DataContainer<PointT, NormalT>);
101  }
102 
103  /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
104  * \param[in] input a cloud containing XYZ data
105  */
106  template <typename PointT> inline void
108  {
109  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
110  if (!data_container_)
111  {
112  PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
113  return;
114  }
115  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
116  }
117 
118  /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
119  * \param[in] input a cloud containing XYZ data
120  */
121  template <typename PointT> inline void
123  {
124  if (!data_container_)
125  {
126  PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
127  return;
128  }
129  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
130  }
131 
132  /** \brief Get the target input point cloud */
133  template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
134  getInputSource () const
135  {
136  if (!data_container_)
137  {
138  PCL_ERROR ("[pcl::registration::%s::getInputSource] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
139  return;
140  }
141  return (boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputSource ());
142  }
143 
144  /** \brief Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
145  * \param[in] target a cloud containing XYZ data
146  */
147  template <typename PointT> inline void
149  {
150  if (!data_container_)
151  {
152  PCL_ERROR ("[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
153  return;
154  }
155  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
156  }
157 
158  /** \brief Provide a pointer to the search object used to find correspondences in
159  * the target cloud.
160  * \param[in] tree a pointer to the spatial search object.
161  * \param[in] force_no_recompute If set to true, this tree will NEVER be
162  * recomputed, regardless of calls to setInputTarget. Only use if you are
163  * confident that the tree will be set correctly.
164  */
165  template <typename PointT> inline void
166  setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
167  bool force_no_recompute = false)
168  {
169  boost::static_pointer_cast< DataContainer<PointT> >
170  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
171  }
172 
173  /** \brief Get the target input point cloud */
174  template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
175  getInputTarget () const
176  {
177  if (!data_container_)
178  {
179  PCL_ERROR ("[pcl::registration::%s::getInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
180  return;
181  }
182  return (boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputTarget ());
183  }
184 
185  /** \brief Set the normals computed on the input point cloud
186  * \param[in] normals the normals computed for the input cloud
187  */
188  template <typename PointT, typename NormalT> inline void
190  {
191  if (!data_container_)
192  {
193  PCL_ERROR ("[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
194  return;
195  }
196  boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setInputNormals (normals);
197  }
198 
199  /** \brief Get the normals computed on the input point cloud */
200  template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
201  getInputNormals () const
202  {
203  if (!data_container_)
204  {
205  PCL_ERROR ("[pcl::registration::%s::getInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
206  return;
207  }
208  return (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getInputNormals ());
209  }
210 
211  /** \brief Set the normals computed on the target point cloud
212  * \param[in] normals the normals computed for the input cloud
213  */
214  template <typename PointT, typename NormalT> inline void
216  {
217  if (!data_container_)
218  {
219  PCL_ERROR ("[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
220  return;
221  }
222  boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setTargetNormals (normals);
223  }
224 
225  /** \brief Get the normals computed on the target point cloud */
226  template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
228  {
229  if (!data_container_)
230  {
231  PCL_ERROR ("[pcl::registration::%s::getTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
232  return;
233  }
234  return (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getTargetNormals ());
235  }
236 
237 
238  /** \brief See if this rejector requires source points */
239  bool
241  { return (true); }
242 
243  /** \brief Blob method for setting the source cloud */
244  void
246  {
247  if (!data_container_)
248  initializeDataContainer<PointXYZ, Normal> ();
250  fromPCLPointCloud2 (*cloud2, *cloud);
251  setInputSource<PointXYZ> (cloud);
252  }
253 
254  /** \brief See if this rejector requires a target cloud */
255  bool
257  { return (true); }
258 
259  /** \brief Method for setting the target cloud */
260  void
262  {
263  if (!data_container_)
264  initializeDataContainer<PointXYZ, Normal> ();
266  fromPCLPointCloud2 (*cloud2, *cloud);
267  setInputTarget<PointXYZ> (cloud);
268  }
269 
270  /** \brief See if this rejector requires source normals */
271  bool
273  { return (true); }
274 
275  /** \brief Blob method for setting the source normals */
276  void
278  {
279  if (!data_container_)
280  initializeDataContainer<PointXYZ, Normal> ();
282  fromPCLPointCloud2 (*cloud2, *cloud);
283  setInputNormals<PointXYZ, Normal> (cloud);
284  }
285 
286  /** \brief See if this rejector requires target normals*/
287  bool
289  { return (true); }
290 
291  /** \brief Method for setting the target normals */
292  void
294  {
295  if (!data_container_)
296  initializeDataContainer<PointXYZ, Normal> ();
298  fromPCLPointCloud2 (*cloud2, *cloud);
299  setTargetNormals<PointXYZ, Normal> (cloud);
300  }
301 
302  protected:
303 
304  /** \brief Apply the rejection algorithm.
305  * \param[out] correspondences the set of resultant correspondences.
306  */
307  inline void
309  {
310  getRemainingCorrespondences (*input_correspondences_, correspondences);
311  }
312 
313  /** \brief The median distance threshold between two correspondent points in source <-> target. */
314  double threshold_;
315 
316  typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
317  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
319  };
320  }
321 }
322 
323 #include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>
324 
325 #endif
pcl::registration::CorrespondenceRejectorSurfaceNormal::setSourceNormals
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source normals.
Definition: correspondence_rejection_surface_normal.h:277
pcl::registration::CorrespondenceRejectorSurfaceNormal::threshold_
double threshold_
The median distance threshold between two correspondent points in source <-> target.
Definition: correspondence_rejection_surface_normal.h:314
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputSource
pcl::PointCloud< PointT >::ConstPtr getInputSource() const
Get the target input point cloud.
Definition: correspondence_rejection_surface_normal.h:134
pcl::registration::CorrespondenceRejectorSurfaceNormal::DataContainerPtr
boost::shared_ptr< DataContainerInterface > DataContainerPtr
Definition: correspondence_rejection_surface_normal.h:316
pcl::registration::CorrespondenceRejectorSurfaceNormal::getTargetNormals
pcl::PointCloud< NormalT >::Ptr getTargetNormals() const
Get the normals computed on the target point cloud.
Definition: correspondence_rejection_surface_normal.h:227
pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal
CorrespondenceRejectorSurfaceNormal()
Empty constructor.
Definition: correspondence_rejection_surface_normal.h:71
pcl::registration::CorrespondenceRejectorSurfaceNormal::applyRejection
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
Definition: correspondence_rejection_surface_normal.h:308
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: correspondence_rejection.h:135
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals
void setInputNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the input point cloud.
Definition: correspondence_rejection_surface_normal.h:189
pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold
double getThreshold() const
Get the thresholding angle between the normals for correspondence rejection.
Definition: correspondence_rejection_surface_normal.h:94
pcl::registration::CorrespondenceRejectorSurfaceNormal::setSearchMethodTarget
void setSearchMethodTarget(const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
Provide a pointer to the search object used to find correspondences in the target cloud.
Definition: correspondence_rejection_surface_normal.h:166
pcl::registration::CorrespondenceRejectorSurfaceNormal::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_surface_normal.h:148
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetPoints
bool requiresTargetPoints() const
See if this rejector requires a target cloud.
Definition: correspondence_rejection_surface_normal.h:256
pcl::registration::DataContainer
DataContainer is a container for the input and target point clouds and implements the interface to co...
Definition: correspondence_rejection.h:216
pcl::registration::CorrespondenceRejectorSurfaceNormal::data_container_
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
Definition: correspondence_rejection_surface_normal.h:318
pcl::search::KdTree< PointT >
pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputTarget
pcl::PointCloud< PointT >::ConstPtr getInputTarget() const
Get the target input point cloud.
Definition: correspondence_rejection_surface_normal.h:175
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourceNormals
bool requiresSourceNormals() const
See if this rejector requires source normals.
Definition: correspondence_rejection_surface_normal.h:272
pcl::registration::CorrespondenceRejectorSurfaceNormal::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Blob method for setting the source cloud.
Definition: correspondence_rejection_surface_normal.h:245
pcl::registration::CorrespondenceRejectorSurfaceNormal::initializeDataContainer
void initializeDataContainer()
Initialize the data container object for the point type and the normal type.
Definition: correspondence_rejection_surface_normal.h:98
pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target cloud.
Definition: correspondence_rejection_surface_normal.h:261
pcl::registration::CorrespondenceRejectorSurfaceNormal::ConstPtr
boost::shared_ptr< const CorrespondenceRejectorSurfaceNormal > ConstPtr
Definition: correspondence_rejection_surface_normal.h:68
pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2)
Method for setting the target normals.
Definition: correspondence_rejection_surface_normal.h:293
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals
void setTargetNormals(const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
Set the normals computed on the target point cloud.
Definition: correspondence_rejection_surface_normal.h:215
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &input)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
Definition: correspondence_rejection_surface_normal.h:122
pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold
void setThreshold(double threshold)
Set the thresholding angle between the normals for correspondence rejection.
Definition: correspondence_rejection_surface_normal.h:90
pcl::PCLPointCloud2::ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
Definition: PCLPointCloud2.h:52
pcl::registration::CorrespondenceRejectorSurfaceNormal::Ptr
boost::shared_ptr< CorrespondenceRejectorSurfaceNormal > Ptr
Definition: correspondence_rejection_surface_normal.h:67
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetNormals
bool requiresTargetNormals() const
See if this rejector requires target normals.
Definition: correspondence_rejection_surface_normal.h:288
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourcePoints
bool requiresSourcePoints() const
See if this rejector requires source points.
Definition: correspondence_rejection_surface_normal.h:240
pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud
void setInputCloud(const typename pcl::PointCloud< PointT >::ConstPtr &input)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
Definition: correspondence_rejection_surface_normal.h:107
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition: correspondence_rejection.h:191
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition: correspondence_rejection.h:188
pcl::registration::CorrespondenceRejectorSurfaceNormal
CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the ...
Definition: correspondence_rejection_surface_normal.h:60
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:169
pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputNormals
pcl::PointCloud< NormalT >::Ptr getInputNormals() const
Get the normals computed on the input point cloud.
Definition: correspondence_rejection_surface_normal.h:201