Point Cloud Library (PCL)  1.10.0
correspondence_rejection_surface_normal.h
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39 
40 #pragma once
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:
69 
70  /** \brief Empty constructor. Sets the threshold to 1.0. */
72  : threshold_ (1.0)
73  {
74  rejection_name_ = "CorrespondenceRejectorSurfaceNormal";
75  }
76 
77  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
78  * \param[in] original_correspondences the set of initial correspondences given
79  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
80  */
81  void
82  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
83  pcl::Correspondences& remaining_correspondences) override;
84 
85  /** \brief Set the thresholding angle between the normals for correspondence rejection.
86  * \param[in] threshold cosine of the thresholding angle between the normals for rejection
87  */
88  inline void
89  setThreshold (double threshold) { threshold_ = threshold; };
90 
91  /** \brief Get the thresholding angle between the normals for correspondence rejection. */
92  inline double
93  getThreshold () const { return threshold_; };
94 
95  /** \brief Initialize the data container object for the point type and the normal type. */
96  template <typename PointT, typename NormalT> inline void
98  {
99  data_container_.reset (new DataContainer<PointT, NormalT>);
100  }
101 
102  /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
103  * \param[in] input a cloud containing XYZ data
104  */
105  template <typename PointT> inline void
107  {
108  PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
109  if (!data_container_)
110  {
111  PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
112  return;
113  }
114  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
115  }
116 
117  /** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
118  * \param[in] input a cloud containing XYZ data
119  */
120  template <typename PointT> inline void
122  {
123  if (!data_container_)
124  {
125  PCL_ERROR ("[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
126  return;
127  }
128  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (input);
129  }
130 
131  /** \brief Get the target input point cloud */
132  template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
133  getInputSource () const
134  {
135  if (!data_container_)
136  {
137  PCL_ERROR ("[pcl::registration::%s::getInputSource] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
138  return;
139  }
140  return (boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputSource ());
141  }
142 
143  /** \brief Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
144  * \param[in] target a cloud containing XYZ data
145  */
146  template <typename PointT> inline void
148  {
149  if (!data_container_)
150  {
151  PCL_ERROR ("[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
152  return;
153  }
154  boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
155  }
156 
157  /** \brief Provide a pointer to the search object used to find correspondences in
158  * the target cloud.
159  * \param[in] tree a pointer to the spatial search object.
160  * \param[in] force_no_recompute If set to true, this tree will NEVER be
161  * recomputed, regardless of calls to setInputTarget. Only use if you are
162  * confident that the tree will be set correctly.
163  */
164  template <typename PointT> inline void
166  bool force_no_recompute = false)
167  {
168  boost::static_pointer_cast< DataContainer<PointT> >
169  (data_container_)->setSearchMethodTarget (tree, force_no_recompute );
170  }
171 
172  /** \brief Get the target input point cloud */
173  template <typename PointT> inline typename pcl::PointCloud<PointT>::ConstPtr
174  getInputTarget () const
175  {
176  if (!data_container_)
177  {
178  PCL_ERROR ("[pcl::registration::%s::getInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
179  return;
180  }
181  return (boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->getInputTarget ());
182  }
183 
184  /** \brief Set the normals computed on the input point cloud
185  * \param[in] normals the normals computed for the input cloud
186  */
187  template <typename PointT, typename NormalT> inline void
189  {
190  if (!data_container_)
191  {
192  PCL_ERROR ("[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
193  return;
194  }
195  boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setInputNormals (normals);
196  }
197 
198  /** \brief Get the normals computed on the input point cloud */
199  template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
200  getInputNormals () const
201  {
202  if (!data_container_)
203  {
204  PCL_ERROR ("[pcl::registration::%s::getInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
205  return;
206  }
207  return (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getInputNormals ());
208  }
209 
210  /** \brief Set the normals computed on the target point cloud
211  * \param[in] normals the normals computed for the input cloud
212  */
213  template <typename PointT, typename NormalT> inline void
215  {
216  if (!data_container_)
217  {
218  PCL_ERROR ("[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
219  return;
220  }
221  boost::static_pointer_cast<DataContainer<PointT, NormalT> > (data_container_)->setTargetNormals (normals);
222  }
223 
224  /** \brief Get the normals computed on the target point cloud */
225  template <typename NormalT> inline typename pcl::PointCloud<NormalT>::Ptr
227  {
228  if (!data_container_)
229  {
230  PCL_ERROR ("[pcl::registration::%s::getTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n", getClassName ().c_str ());
231  return;
232  }
233  return (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getTargetNormals ());
234  }
235 
236 
237  /** \brief See if this rejector requires source points */
238  bool
239  requiresSourcePoints () const override
240  { return (true); }
241 
242  /** \brief Blob method for setting the source cloud */
243  void
245  {
246  if (!data_container_)
247  initializeDataContainer<PointXYZ, Normal> ();
249  fromPCLPointCloud2 (*cloud2, *cloud);
250  setInputSource<PointXYZ> (cloud);
251  }
252 
253  /** \brief See if this rejector requires a target cloud */
254  bool
255  requiresTargetPoints () const override
256  { return (true); }
257 
258  /** \brief Method for setting the target cloud */
259  void
261  {
262  if (!data_container_)
263  initializeDataContainer<PointXYZ, Normal> ();
265  fromPCLPointCloud2 (*cloud2, *cloud);
266  setInputTarget<PointXYZ> (cloud);
267  }
268 
269  /** \brief See if this rejector requires source normals */
270  bool
271  requiresSourceNormals () const override
272  { return (true); }
273 
274  /** \brief Blob method for setting the source normals */
275  void
277  {
278  if (!data_container_)
279  initializeDataContainer<PointXYZ, Normal> ();
281  fromPCLPointCloud2 (*cloud2, *cloud);
282  setInputNormals<PointXYZ, Normal> (cloud);
283  }
284 
285  /** \brief See if this rejector requires target normals*/
286  bool
287  requiresTargetNormals () const override
288  { return (true); }
289 
290  /** \brief Method for setting the target normals */
291  void
293  {
294  if (!data_container_)
295  initializeDataContainer<PointXYZ, Normal> ();
297  fromPCLPointCloud2 (*cloud2, *cloud);
298  setTargetNormals<PointXYZ, Normal> (cloud);
299  }
300 
301  protected:
302 
303  /** \brief Apply the rejection algorithm.
304  * \param[out] correspondences the set of resultant correspondences.
305  */
306  inline void
307  applyRejection (pcl::Correspondences &correspondences) override
308  {
309  getRemainingCorrespondences (*input_correspondences_, correspondences);
310  }
311 
312  /** \brief The median distance threshold between two correspondent points in source <-> target. */
313  double threshold_;
314 
316  /** \brief A pointer to the DataContainer object containing the input and target point clouds */
318  };
319  }
320 }
321 
322 #include <pcl/registration/impl/correspondence_rejection_surface_normal.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:61
pcl::registration::CorrespondenceRejectorSurfaceNormal::threshold_
double threshold_
The median distance threshold between two correspondent points in source <-> target.
Definition: correspondence_rejection_surface_normal.h:313
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals
void setTargetNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target normals.
Definition: correspondence_rejection_surface_normal.h:292
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetNormals
bool requiresTargetNormals() const override
See if this rejector requires target normals.
Definition: correspondence_rejection_surface_normal.h:287
pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputSource
pcl::PointCloud< PointT >::ConstPtr getInputSource() const
Get the target input point cloud.
Definition: correspondence_rejection_surface_normal.h:133
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_surface_normal.h:255
pcl::registration::CorrespondenceRejector::ConstPtr
shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:62
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:226
pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal
CorrespondenceRejectorSurfaceNormal()
Empty constructor.
Definition: correspondence_rejection_surface_normal.h:71
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::CorrespondenceRejectorSurfaceNormal::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_surface_normal.h:244
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
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:188
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:78
pcl::registration::DataContainerInterface::Ptr
shared_ptr< DataContainerInterface > Ptr
Definition: correspondence_rejection.h:202
pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold
double getThreshold() const
Get the thresholding angle between the normals for correspondence rejection.
Definition: correspondence_rejection_surface_normal.h:93
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourceNormals
bool requiresSourceNormals() const override
See if this rejector requires source normals.
Definition: correspondence_rejection_surface_normal.h:271
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:147
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:39
pcl::registration::CorrespondenceRejectorSurfaceNormal::DataContainerPtr
DataContainerInterface::Ptr DataContainerPtr
Definition: correspondence_rejection_surface_normal.h:315
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:317
pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputTarget
pcl::PointCloud< PointT >::ConstPtr getInputTarget() const
Get the target input point cloud.
Definition: correspondence_rejection_surface_normal.h:174
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:97
pcl::registration::CorrespondenceRejectorSurfaceNormal::setSourceNormals
void setSourceNormals(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source normals.
Definition: correspondence_rejection_surface_normal.h:276
pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition: correspondence_rejection_surface_normal.h:239
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
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:214
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:121
pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold
void setThreshold(double threshold)
Set the thresholding angle between the normals for correspondence rejection.
Definition: correspondence_rejection_surface_normal.h:89
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
pcl::registration::CorrespondenceRejectorSurfaceNormal::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_surface_normal.h:307
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::CorrespondenceRejectorSurfaceNormal::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_surface_normal.h:165
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:106
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
pcl::registration::CorrespondenceRejectorSurfaceNormal
CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the ...
Definition: correspondence_rejection_surface_normal.h:60
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253
pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_surface_normal.h:260
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:58
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
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
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:200