Point Cloud Library (PCL)  1.10.0
correspondence_rejection_sample_consensus.h
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40 
41 #pragma once
42 
43 
44 #include <pcl/pcl_macros.h>
45 #include <pcl/registration/correspondence_rejection.h>
46 
47 #include <pcl/sample_consensus/ransac.h>
48 #include <pcl/sample_consensus/sac_model_registration.h>
49 #include <pcl/common/transforms.h>
50 
51 namespace pcl
52 {
53  namespace registration
54  {
55  /** \brief CorrespondenceRejectorSampleConsensus implements a correspondence rejection
56  * using Random Sample Consensus to identify inliers (and reject outliers)
57  * \author Dirk Holz
58  * \ingroup registration
59  */
60  template <typename PointT>
62  {
64  using PointCloudPtr = typename PointCloud::Ptr;
65  using PointCloudConstPtr = typename PointCloud::ConstPtr;
66 
67  public:
71 
74 
75  /** \brief Empty constructor. Sets the inlier threshold to 5cm (0.05m),
76  * and the maximum number of iterations to 1000.
77  */
79  : inlier_threshold_ (0.05)
80  , max_iterations_ (1000) // std::numeric_limits<int>::max ()
81  , input_ ()
83  , target_ ()
84  , refine_ (false)
85  , save_inliers_ (false)
86  {
87  rejection_name_ = "CorrespondenceRejectorSampleConsensus";
88  }
89 
90  /** \brief Empty destructor. */
92 
93  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
94  * \param[in] original_correspondences the set of initial correspondences given
95  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
96  */
97  inline void
98  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
99  pcl::Correspondences& remaining_correspondences) override;
100 
101  /** \brief Provide a source point cloud dataset (must contain XYZ data!)
102  * \param[in] cloud a cloud containing XYZ data
103  */
104  virtual inline void
105  setInputSource (const PointCloudConstPtr &cloud)
106  {
107  input_ = cloud;
108  }
109 
110  /** \brief Get a pointer to the input point cloud dataset target. */
111  inline PointCloudConstPtr const
112  getInputSource () { return (input_); }
113 
114  /** \brief Provide a target point cloud dataset (must contain XYZ data!)
115  * \param[in] cloud a cloud containing XYZ data
116  */
117  virtual inline void
118  setInputTarget (const PointCloudConstPtr &cloud) { target_ = cloud; }
119 
120  /** \brief Get a pointer to the input point cloud dataset target. */
121  inline PointCloudConstPtr const
122  getInputTarget () { return (target_ ); }
123 
124 
125  /** \brief See if this rejector requires source points */
126  bool
127  requiresSourcePoints () const override
128  { return (true); }
129 
130  /** \brief Blob method for setting the source cloud */
131  void
133  {
134  PointCloudPtr cloud (new PointCloud);
135  fromPCLPointCloud2 (*cloud2, *cloud);
136  setInputSource (cloud);
137  }
138 
139  /** \brief See if this rejector requires a target cloud */
140  bool
141  requiresTargetPoints () const override
142  { return (true); }
143 
144  /** \brief Method for setting the target cloud */
145  void
147  {
148  PointCloudPtr cloud (new PointCloud);
149  fromPCLPointCloud2 (*cloud2, *cloud);
150  setInputTarget (cloud);
151  }
152 
153  /** \brief Set the maximum distance between corresponding points.
154  * Correspondences with distances below the threshold are considered as inliers.
155  * \param[in] threshold Distance threshold in the same dimension as source and target data sets.
156  */
157  inline void
158  setInlierThreshold (double threshold) { inlier_threshold_ = threshold; };
159 
160  /** \brief Get the maximum distance between corresponding points.
161  * \return Distance threshold in the same dimension as source and target data sets.
162  */
163  inline double
165 
166  /** \brief Set the maximum number of iterations.
167  * \param[in] max_iterations Maximum number if iterations to run
168  */
169  inline void
170  setMaximumIterations (int max_iterations) { max_iterations_ = std::max (max_iterations, 0); }
171 
172  /** \brief Get the maximum number of iterations.
173  * \return max_iterations Maximum number if iterations to run
174  */
175  inline int
177 
178  /** \brief Get the best transformation after RANSAC rejection.
179  * \return The homogeneous 4x4 transformation yielding the largest number of inliers.
180  */
181  inline Eigen::Matrix4f
183 
184  /** \brief Specify whether the model should be refined internally using the variance of the inliers
185  * \param[in] refine true if the model should be refined, false otherwise
186  */
187  inline void
188  setRefineModel (const bool refine)
189  {
190  refine_ = refine;
191  }
192 
193  /** \brief Get the internal refine parameter value as set by the user using setRefineModel */
194  inline bool
195  getRefineModel () const
196  {
197  return (refine_);
198  }
199 
200  /** \brief Get the inlier indices found by the correspondence rejector. This information is only saved if setSaveInliers(true) was called in advance.
201  * \param[out] inlier_indices Indices for the inliers
202  */
203  inline void
204  getInliersIndices (std::vector<int> &inlier_indices) { inlier_indices = inlier_indices_; }
205 
206  /** \brief Set whether to save inliers or not
207  * \param[in] s True to save inliers / False otherwise
208  */
209  inline void
210  setSaveInliers (bool s) { save_inliers_ = s; }
211 
212  /** \brief Get whether the rejector is configured to save inliers */
213  inline bool
215 
216 
217  protected:
218 
219  /** \brief Apply the rejection algorithm.
220  * \param[out] correspondences the set of resultant correspondences.
221  */
222  inline void
223  applyRejection (pcl::Correspondences &correspondences) override
224  {
226  }
227 
229 
231 
232  PointCloudConstPtr input_;
233  PointCloudPtr input_transformed_;
234  PointCloudConstPtr target_;
235 
236  Eigen::Matrix4f best_transformation_;
237 
238  bool refine_;
239  std::vector<int> inlier_indices_;
241 
242  public:
244  };
245  }
246 }
247 
248 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:61
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_sample_consensus.h:146
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::CorrespondenceRejectorSampleConsensus::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_sample_consensus.h:132
pcl::registration::CorrespondenceRejector::ConstPtr
shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:62
pcl::registration::CorrespondenceRejectorSampleConsensus::getInlierThreshold
double getInlierThreshold()
Get the maximum distance between corresponding points.
Definition: correspondence_rejection_sample_consensus.h:164
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::CorrespondenceRejectorSampleConsensus::target_
PointCloudConstPtr target_
Definition: correspondence_rejection_sample_consensus.h:234
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::registration::CorrespondenceRejectorSampleConsensus::input_transformed_
PointCloudPtr input_transformed_
Definition: correspondence_rejection_sample_consensus.h:233
pcl::registration::CorrespondenceRejectorSampleConsensus::getMaximumIterations
int getMaximumIterations()
Get the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:176
pcl::registration::CorrespondenceRejectorSampleConsensus::setInputTarget
virtual void setInputTarget(const PointCloudConstPtr &cloud)
Provide a target point cloud dataset (must contain XYZ data!)
Definition: correspondence_rejection_sample_consensus.h:118
pcl::registration::CorrespondenceRejectorSampleConsensus::getInliersIndices
void getInliersIndices(std::vector< int > &inlier_indices)
Get the inlier indices found by the correspondence rejector.
Definition: correspondence_rejection_sample_consensus.h:204
pcl::registration::CorrespondenceRejectorSampleConsensus::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_sample_consensus.h:141
pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation
Eigen::Matrix4f getBestTransformation()
Get the best transformation after RANSAC rejection.
Definition: correspondence_rejection_sample_consensus.h:182
pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations
void setMaximumIterations(int max_iterations)
Set the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:170
pcl::registration::CorrespondenceRejectorSampleConsensus::refine_
bool refine_
Definition: correspondence_rejection_sample_consensus.h:238
pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus
CorrespondenceRejectorSampleConsensus()
Empty constructor.
Definition: correspondence_rejection_sample_consensus.h:78
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:39
pcl::registration::CorrespondenceRejectorSampleConsensus::getRefineModel
bool getRefineModel() const
Get the internal refine parameter value as set by the user using setRefineModel.
Definition: correspondence_rejection_sample_consensus.h:195
pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold
void setInlierThreshold(double threshold)
Set the maximum distance between corresponding points.
Definition: correspondence_rejection_sample_consensus.h:158
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputSource
const PointCloudConstPtr getInputSource()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:112
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:371
pcl::registration::CorrespondenceRejectorSampleConsensus::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_sample_consensus.h:223
pcl::registration::CorrespondenceRejectorSampleConsensus::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition: correspondence_rejection_sample_consensus.h:127
pcl::registration::CorrespondenceRejectorSampleConsensus
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
Definition: correspondence_rejection_sample_consensus.h:61
pcl::registration::CorrespondenceRejectorSampleConsensus::getSaveInliers
bool getSaveInliers()
Get whether the rejector is configured to save inliers.
Definition: correspondence_rejection_sample_consensus.h:214
pcl::registration::CorrespondenceRejectorSampleConsensus::best_transformation_
Eigen::Matrix4f best_transformation_
Definition: correspondence_rejection_sample_consensus.h:236
pcl::registration::CorrespondenceRejectorSampleConsensus::~CorrespondenceRejectorSampleConsensus
~CorrespondenceRejectorSampleConsensus()
Empty destructor.
Definition: correspondence_rejection_sample_consensus.h:91
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
pcl::registration::CorrespondenceRejectorSampleConsensus::setSaveInliers
void setSaveInliers(bool s)
Set whether to save inliers or not.
Definition: correspondence_rejection_sample_consensus.h:210
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_indices_
std::vector< int > inlier_indices_
Definition: correspondence_rejection_sample_consensus.h:239
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
pcl::registration::CorrespondenceRejectorSampleConsensus::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.
Definition: correspondence_rejection_sample_consensus.hpp:47
pcl::registration::CorrespondenceRejectorSampleConsensus::max_iterations_
int max_iterations_
Definition: correspondence_rejection_sample_consensus.h:230
pcl::registration::CorrespondenceRejectorSampleConsensus::input_
PointCloudConstPtr input_
Definition: correspondence_rejection_sample_consensus.h:232
pcl::registration::CorrespondenceRejectorSampleConsensus::save_inliers_
bool save_inliers_
Definition: correspondence_rejection_sample_consensus.h:240
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputTarget
const PointCloudConstPtr getInputTarget()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:122
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::CorrespondenceRejectorSampleConsensus::setRefineModel
void setRefineModel(const bool refine)
Specify whether the model should be refined internally using the variance of the inliers.
Definition: correspondence_rejection_sample_consensus.h:188
pcl::registration::CorrespondenceRejectorSampleConsensus::setInputSource
virtual void setInputSource(const PointCloudConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!)
Definition: correspondence_rejection_sample_consensus.h:105
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_threshold_
double inlier_threshold_
Definition: correspondence_rejection_sample_consensus.h:228
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::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