Point Cloud Library (PCL)  1.14.1-dev
correspondence_rejection_organized_boundary.h
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38 
39 #pragma once
40 
41 #include <pcl/registration/correspondence_rejection.h>
42 #include <pcl/conversions.h> // for fromPCLPointCloud2
43 #include <pcl/memory.h> // for static_pointer_cast
44 
45 namespace pcl {
46 namespace registration {
47 /**
48  * @brief The CorrespondenceRejectionOrganizedBoundary class implements a simple
49  * correspondence rejection measure. For each pair of points in correspondence, it
50  * checks whether they are on the boundary of a silhouette. This is done by counting the
51  * number of NaN dexels in a window around the points (the threshold and window size can
52  * be set by the user). \note Both the source and the target clouds need to be
53  * organized, otherwise all the correspondences will be rejected.
54  *
55  * \author Alexandru E. Ichim
56  * \ingroup registration
57  */
59 : public CorrespondenceRejector {
60 public:
61  /** @brief Empty constructor. */
63 
64  void
65  getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
66  pcl::Correspondences& remaining_correspondences) override;
67 
68  inline void
70  {
71  boundary_nans_threshold_ = val;
72  }
73 
74  template <typename PointT>
75  inline void
77  {
78  if (!data_container_)
79  data_container_.reset(new pcl::registration::DataContainer<PointT>);
80  static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
81  ->setInputSource(cloud);
82  }
83 
84  template <typename PointT>
85  inline void
87  {
88  if (!data_container_)
89  data_container_.reset(new pcl::registration::DataContainer<PointT>);
90  static_pointer_cast<pcl::registration::DataContainer<PointT>>(data_container_)
91  ->setInputTarget(cloud);
92  }
93 
94  /** \brief See if this rejector requires source points */
95  bool
96  requiresSourcePoints() const override
97  {
98  return (true);
99  }
100 
101  /** \brief Blob method for setting the source cloud */
102  void
104  {
106  fromPCLPointCloud2(*cloud2, *cloud);
107  setInputSource<PointXYZ>(cloud);
108  }
109 
110  /** \brief See if this rejector requires a target cloud */
111  bool
112  requiresTargetPoints() const override
113  {
114  return (true);
115  }
116 
117  /** \brief Method for setting the target cloud */
118  void
120  {
122  fromPCLPointCloud2(*cloud2, *cloud);
123  setInputTarget<PointXYZ>(cloud);
124  }
125 
126  virtual bool
127  updateSource(const Eigen::Matrix4d&)
128  {
129  return (true);
130  }
131 
132 protected:
133  /** \brief Apply the rejection algorithm.
134  * \param[out] correspondences the set of resultant correspondences.
135  */
136  inline void
137  applyRejection(pcl::Correspondences& correspondences) override
138  {
139  getRemainingCorrespondences(*input_correspondences_, correspondences);
140  }
141 
142  int boundary_nans_threshold_{8};
143  int window_size_{5};
144  float depth_step_threshold_{0.025f};
145 
148 };
149 } // namespace registration
150 } // 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
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measu...
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
CorrespondenceRejectionOrganizedBoundary()=default
Empty constructor.
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
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.
bool requiresSourcePoints() const override
See if this rejector requires source points.
CorrespondenceRejector represents the base class for correspondence rejection methods
DataContainer is a container for the input and target point clouds and implements the interface to co...
shared_ptr< DataContainerInterface > Ptr
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