Point Cloud Library (PCL)  1.11.1-dev
correspondence_rejection_sample_consensus.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #pragma once
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 #include <pcl/memory.h>
45 
46 namespace pcl {
47 namespace registration {
48 /** \brief CorrespondenceRejectorSampleConsensus implements a correspondence rejection
49  * using Random Sample Consensus to identify inliers (and reject outliers)
50  * \author Dirk Holz
51  * \ingroup registration
52  */
53 template <typename PointT>
56  using PointCloudPtr = typename PointCloud::Ptr;
57  using PointCloudConstPtr = typename PointCloud::ConstPtr;
58 
59 public:
63 
64  using Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus<PointT>>;
65  using ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus<PointT>>;
66 
67  /** \brief Empty constructor. Sets the inlier threshold to 5cm (0.05m),
68  * and the maximum number of iterations to 1000.
69  */
71  : inlier_threshold_(0.05)
72  , max_iterations_(1000) // std::numeric_limits<int>::max ()
73  , input_()
75  , target_()
76  , refine_(false)
77  , save_inliers_(false)
78  {
79  rejection_name_ = "CorrespondenceRejectorSampleConsensus";
80  }
81 
82  /** \brief Empty destructor. */
84 
85  /** \brief Get a list of valid correspondences after rejection from the original set
86  * of correspondences. \param[in] original_correspondences the set of initial
87  * correspondences given \param[out] remaining_correspondences the resultant filtered
88  * set of remaining correspondences
89  */
90  inline void
91  getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
92  pcl::Correspondences& remaining_correspondences) override;
93 
94  /** \brief Provide a source point cloud dataset (must contain XYZ data!)
95  * \param[in] cloud a cloud containing XYZ data
96  */
97  virtual inline void
98  setInputSource(const PointCloudConstPtr& cloud)
99  {
100  input_ = cloud;
101  }
102 
103  /** \brief Get a pointer to the input point cloud dataset target. */
104  inline PointCloudConstPtr const
106  {
107  return (input_);
108  }
109 
110  /** \brief Provide a target point cloud dataset (must contain XYZ data!)
111  * \param[in] cloud a cloud containing XYZ data
112  */
113  virtual inline void
114  setInputTarget(const PointCloudConstPtr& cloud)
115  {
116  target_ = cloud;
117  }
118 
119  /** \brief Get a pointer to the input point cloud dataset target. */
120  inline PointCloudConstPtr const
122  {
123  return (target_);
124  }
125 
126  /** \brief See if this rejector requires source points */
127  bool
128  requiresSourcePoints() const override
129  {
130  return (true);
131  }
132 
133  /** \brief Blob method for setting the source cloud */
134  void
136  {
137  PointCloudPtr cloud(new PointCloud);
138  fromPCLPointCloud2(*cloud2, *cloud);
139  setInputSource(cloud);
140  }
141 
142  /** \brief See if this rejector requires a target cloud */
143  bool
144  requiresTargetPoints() const override
145  {
146  return (true);
147  }
148 
149  /** \brief Method for setting the target cloud */
150  void
152  {
153  PointCloudPtr cloud(new PointCloud);
154  fromPCLPointCloud2(*cloud2, *cloud);
155  setInputTarget(cloud);
156  }
157 
158  /** \brief Set the maximum distance between corresponding points.
159  * Correspondences with distances below the threshold are considered as inliers.
160  * \param[in] threshold Distance threshold in the same dimension as source and target
161  * data sets.
162  */
163  inline void
164  setInlierThreshold(double threshold)
165  {
166  inlier_threshold_ = threshold;
167  };
168 
169  /** \brief Get the maximum distance between corresponding points.
170  * \return Distance threshold in the same dimension as source and target data sets.
171  */
172  inline double
174  {
175  return inlier_threshold_;
176  };
177 
178  /** \brief Set the maximum number of iterations.
179  * \param[in] max_iterations Maximum number if iterations to run
180  */
181  inline void
182  setMaximumIterations(int max_iterations)
183  {
184  max_iterations_ = std::max(max_iterations, 0);
185  }
186 
187  /** \brief Get the maximum number of iterations.
188  * \return max_iterations Maximum number if iterations to run
189  */
190  inline int
192  {
193  return (max_iterations_);
194  }
195 
196  /** \brief Get the best transformation after RANSAC rejection.
197  * \return The homogeneous 4x4 transformation yielding the largest number of inliers.
198  */
199  inline Eigen::Matrix4f
201  {
202  return best_transformation_;
203  };
204 
205  /** \brief Specify whether the model should be refined internally using the variance
206  * of the inliers \param[in] refine true if the model should be refined, false
207  * otherwise
208  */
209  inline void
210  setRefineModel(const bool refine)
211  {
212  refine_ = refine;
213  }
214 
215  /** \brief Get the internal refine parameter value as set by the user using
216  * setRefineModel */
217  inline bool
219  {
220  return (refine_);
221  }
222 
223  /** \brief Get the inlier indices found by the correspondence rejector. This
224  * information is only saved if setSaveInliers(true) was called in advance.
225  * \param[out] inlier_indices Indices for the inliers
226  */
227  inline void
228  getInliersIndices(std::vector<int>& inlier_indices)
229  {
230  inlier_indices = inlier_indices_;
231  }
232 
233  /** \brief Set whether to save inliers or not
234  * \param[in] s True to save inliers / False otherwise
235  */
236  inline void
238  {
239  save_inliers_ = s;
240  }
241 
242  /** \brief Get whether the rejector is configured to save inliers */
243  inline bool
245  {
246  return save_inliers_;
247  }
248 
249 protected:
250  /** \brief Apply the rejection algorithm.
251  * \param[out] correspondences the set of resultant correspondences.
252  */
253  inline void
254  applyRejection(pcl::Correspondences& correspondences) override
255  {
257  }
258 
260 
262 
263  PointCloudConstPtr input_;
264  PointCloudPtr input_transformed_;
265  PointCloudConstPtr target_;
266 
267  Eigen::Matrix4f best_transformation_;
268 
269  bool refine_;
270  std::vector<int> inlier_indices_;
272 
273 public:
275 };
276 } // namespace registration
277 } // namespace pcl
278 
279 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
pcl::registration::CorrespondenceRejector::Ptr
shared_ptr< CorrespondenceRejector > Ptr
Definition: correspondence_rejection.h:56
pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetPoints
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
Definition: correspondence_rejection_sample_consensus.h:151
pcl
Definition: convolution.h:46
pcl::registration::CorrespondenceRejectorSampleConsensus::setSourcePoints
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
Definition: correspondence_rejection_sample_consensus.h:135
pcl::registration::CorrespondenceRejector::ConstPtr
shared_ptr< const CorrespondenceRejector > ConstPtr
Definition: correspondence_rejection.h:57
pcl::registration::CorrespondenceRejectorSampleConsensus::getInlierThreshold
double getInlierThreshold()
Get the maximum distance between corresponding points.
Definition: correspondence_rejection_sample_consensus.h:173
pcl::registration::CorrespondenceRejector::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: correspondence_rejection.h:131
pcl::registration::CorrespondenceRejectorSampleConsensus::target_
PointCloudConstPtr target_
Definition: correspondence_rejection_sample_consensus.h:265
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::registration::CorrespondenceRejectorSampleConsensus::input_transformed_
PointCloudPtr input_transformed_
Definition: correspondence_rejection_sample_consensus.h:264
pcl::registration::CorrespondenceRejectorSampleConsensus::getMaximumIterations
int getMaximumIterations()
Get the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:191
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:114
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:228
pcl::registration::CorrespondenceRejectorSampleConsensus::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_sample_consensus.h:144
pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation
Eigen::Matrix4f getBestTransformation()
Get the best transformation after RANSAC rejection.
Definition: correspondence_rejection_sample_consensus.h:200
pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations
void setMaximumIterations(int max_iterations)
Set the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:182
pcl::registration::CorrespondenceRejectorSampleConsensus::refine_
bool refine_
Definition: correspondence_rejection_sample_consensus.h:269
pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus
CorrespondenceRejectorSampleConsensus()
Empty constructor.
Definition: correspondence_rejection_sample_consensus.h:70
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:36
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:218
pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold
void setInlierThreshold(double threshold)
Set the maximum distance between corresponding points.
Definition: correspondence_rejection_sample_consensus.h:164
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputSource
const PointCloudConstPtr getInputSource()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:105
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::registration::CorrespondenceRejectorSampleConsensus::applyRejection
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
Definition: correspondence_rejection_sample_consensus.h:254
pcl::registration::CorrespondenceRejectorSampleConsensus::requiresSourcePoints
bool requiresSourcePoints() const override
See if this rejector requires source points.
Definition: correspondence_rejection_sample_consensus.h:128
pcl::registration::CorrespondenceRejectorSampleConsensus
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
Definition: correspondence_rejection_sample_consensus.h:54
pcl::registration::CorrespondenceRejectorSampleConsensus::getSaveInliers
bool getSaveInliers()
Get whether the rejector is configured to save inliers.
Definition: correspondence_rejection_sample_consensus.h:244
pcl::registration::CorrespondenceRejectorSampleConsensus::best_transformation_
Eigen::Matrix4f best_transformation_
Definition: correspondence_rejection_sample_consensus.h:267
pcl::registration::CorrespondenceRejectorSampleConsensus::~CorrespondenceRejectorSampleConsensus
~CorrespondenceRejectorSampleConsensus()
Empty destructor.
Definition: correspondence_rejection_sample_consensus.h:83
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:407
pcl::registration::CorrespondenceRejectorSampleConsensus::setSaveInliers
void setSaveInliers(bool s)
Set whether to save inliers or not.
Definition: correspondence_rejection_sample_consensus.h:237
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_indices_
std::vector< int > inlier_indices_
Definition: correspondence_rejection_sample_consensus.h:270
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:408
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:55
pcl::registration::CorrespondenceRejectorSampleConsensus::max_iterations_
int max_iterations_
Definition: correspondence_rejection_sample_consensus.h:261
pcl::registration::CorrespondenceRejectorSampleConsensus::input_
PointCloudConstPtr input_
Definition: correspondence_rejection_sample_consensus.h:263
pcl::registration::CorrespondenceRejectorSampleConsensus::save_inliers_
bool save_inliers_
Definition: correspondence_rejection_sample_consensus.h:271
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputTarget
const PointCloudConstPtr getInputTarget()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:121
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
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:210
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:98
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_threshold_
double inlier_threshold_
Definition: correspondence_rejection_sample_consensus.h:259
pcl::registration::CorrespondenceRejector::input_correspondences_
CorrespondencesConstPtr input_correspondences_
The input correspondences.
Definition: correspondence_rejection.h:200
pcl::registration::CorrespondenceRejector::rejection_name_
std::string rejection_name_
The name of the rejection method.
Definition: correspondence_rejection.h:197
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::registration::CorrespondenceRejector
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition: correspondence_rejection.h:54
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:167