Point Cloud Library (PCL)  1.11.0-dev
correspondence_rejection_sample_consensus.h
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40 
41 #pragma once
42 
43 
44 #include <pcl/memory.h>
45 #include <pcl/pcl_macros.h>
46 #include <pcl/registration/correspondence_rejection.h>
47 
48 #include <pcl/sample_consensus/ransac.h>
49 #include <pcl/sample_consensus/sac_model_registration.h>
50 #include <pcl/common/transforms.h>
51 
52 namespace pcl
53 {
54  namespace registration
55  {
56  /** \brief CorrespondenceRejectorSampleConsensus implements a correspondence rejection
57  * using Random Sample Consensus to identify inliers (and reject outliers)
58  * \author Dirk Holz
59  * \ingroup registration
60  */
61  template <typename PointT>
63  {
65  using PointCloudPtr = typename PointCloud::Ptr;
66  using PointCloudConstPtr = typename PointCloud::ConstPtr;
67 
68  public:
72 
73  using Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus<PointT> >;
74  using ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus<PointT> >;
75 
76  /** \brief Empty constructor. Sets the inlier threshold to 5cm (0.05m),
77  * and the maximum number of iterations to 1000.
78  */
80  : inlier_threshold_ (0.05)
81  , max_iterations_ (1000) // std::numeric_limits<int>::max ()
82  , input_ ()
84  , target_ ()
85  , refine_ (false)
86  , save_inliers_ (false)
87  {
88  rejection_name_ = "CorrespondenceRejectorSampleConsensus";
89  }
90 
91  /** \brief Empty destructor. */
93 
94  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
95  * \param[in] original_correspondences the set of initial correspondences given
96  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
97  */
98  inline void
99  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
100  pcl::Correspondences& remaining_correspondences) override;
101 
102  /** \brief Provide a source point cloud dataset (must contain XYZ data!)
103  * \param[in] cloud a cloud containing XYZ data
104  */
105  virtual inline void
106  setInputSource (const PointCloudConstPtr &cloud)
107  {
108  input_ = cloud;
109  }
110 
111  /** \brief Get a pointer to the input point cloud dataset target. */
112  inline PointCloudConstPtr const
113  getInputSource () { return (input_); }
114 
115  /** \brief Provide a target point cloud dataset (must contain XYZ data!)
116  * \param[in] cloud a cloud containing XYZ data
117  */
118  virtual inline void
119  setInputTarget (const PointCloudConstPtr &cloud) { target_ = cloud; }
120 
121  /** \brief Get a pointer to the input point cloud dataset target. */
122  inline PointCloudConstPtr const
123  getInputTarget () { return (target_ ); }
124 
125 
126  /** \brief See if this rejector requires source points */
127  bool
128  requiresSourcePoints () const override
129  { return (true); }
130 
131  /** \brief Blob method for setting the source cloud */
132  void
134  {
135  PointCloudPtr cloud (new PointCloud);
136  fromPCLPointCloud2 (*cloud2, *cloud);
137  setInputSource (cloud);
138  }
139 
140  /** \brief See if this rejector requires a target cloud */
141  bool
142  requiresTargetPoints () const override
143  { return (true); }
144 
145  /** \brief Method for setting the target cloud */
146  void
148  {
149  PointCloudPtr cloud (new PointCloud);
150  fromPCLPointCloud2 (*cloud2, *cloud);
151  setInputTarget (cloud);
152  }
153 
154  /** \brief Set the maximum distance between corresponding points.
155  * Correspondences with distances below the threshold are considered as inliers.
156  * \param[in] threshold Distance threshold in the same dimension as source and target data sets.
157  */
158  inline void
159  setInlierThreshold (double threshold) { inlier_threshold_ = threshold; };
160 
161  /** \brief Get the maximum distance between corresponding points.
162  * \return Distance threshold in the same dimension as source and target data sets.
163  */
164  inline double
166 
167  /** \brief Set the maximum number of iterations.
168  * \param[in] max_iterations Maximum number if iterations to run
169  */
170  inline void
171  setMaximumIterations (int max_iterations) { max_iterations_ = std::max (max_iterations, 0); }
172 
173  /** \brief Get the maximum number of iterations.
174  * \return max_iterations Maximum number if iterations to run
175  */
176  inline int
178 
179  /** \brief Get the best transformation after RANSAC rejection.
180  * \return The homogeneous 4x4 transformation yielding the largest number of inliers.
181  */
182  inline Eigen::Matrix4f
184 
185  /** \brief Specify whether the model should be refined internally using the variance of the inliers
186  * \param[in] refine true if the model should be refined, false otherwise
187  */
188  inline void
189  setRefineModel (const bool refine)
190  {
191  refine_ = refine;
192  }
193 
194  /** \brief Get the internal refine parameter value as set by the user using setRefineModel */
195  inline bool
196  getRefineModel () const
197  {
198  return (refine_);
199  }
200 
201  /** \brief Get the inlier indices found by the correspondence rejector. This information is only saved if setSaveInliers(true) was called in advance.
202  * \param[out] inlier_indices Indices for the inliers
203  */
204  inline void
205  getInliersIndices (std::vector<int> &inlier_indices) { inlier_indices = inlier_indices_; }
206 
207  /** \brief Set whether to save inliers or not
208  * \param[in] s True to save inliers / False otherwise
209  */
210  inline void
211  setSaveInliers (bool s) { save_inliers_ = s; }
212 
213  /** \brief Get whether the rejector is configured to save inliers */
214  inline bool
216 
217 
218  protected:
219 
220  /** \brief Apply the rejection algorithm.
221  * \param[out] correspondences the set of resultant correspondences.
222  */
223  inline void
224  applyRejection (pcl::Correspondences &correspondences) override
225  {
227  }
228 
230 
232 
233  PointCloudConstPtr input_;
234  PointCloudPtr input_transformed_;
235  PointCloudConstPtr target_;
236 
237  Eigen::Matrix4f best_transformation_;
238 
239  bool refine_;
240  std::vector<int> inlier_indices_;
242 
243  public:
245  };
246  }
247 }
248 
249 #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:147
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:133
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:165
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:235
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::registration::CorrespondenceRejectorSampleConsensus::input_transformed_
PointCloudPtr input_transformed_
Definition: correspondence_rejection_sample_consensus.h:234
pcl::registration::CorrespondenceRejectorSampleConsensus::getMaximumIterations
int getMaximumIterations()
Get the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:177
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:119
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:205
pcl::registration::CorrespondenceRejectorSampleConsensus::requiresTargetPoints
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
Definition: correspondence_rejection_sample_consensus.h:142
pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation
Eigen::Matrix4f getBestTransformation()
Get the best transformation after RANSAC rejection.
Definition: correspondence_rejection_sample_consensus.h:183
pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations
void setMaximumIterations(int max_iterations)
Set the maximum number of iterations.
Definition: correspondence_rejection_sample_consensus.h:171
pcl::registration::CorrespondenceRejectorSampleConsensus::refine_
bool refine_
Definition: correspondence_rejection_sample_consensus.h:239
pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus
CorrespondenceRejectorSampleConsensus()
Empty constructor.
Definition: correspondence_rejection_sample_consensus.h:79
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:35
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:196
pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold
void setInlierThreshold(double threshold)
Set the maximum distance between corresponding points.
Definition: correspondence_rejection_sample_consensus.h:159
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputSource
const PointCloudConstPtr getInputSource()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:113
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:224
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:62
pcl::registration::CorrespondenceRejectorSampleConsensus::getSaveInliers
bool getSaveInliers()
Get whether the rejector is configured to save inliers.
Definition: correspondence_rejection_sample_consensus.h:215
pcl::registration::CorrespondenceRejectorSampleConsensus::best_transformation_
Eigen::Matrix4f best_transformation_
Definition: correspondence_rejection_sample_consensus.h:237
pcl::registration::CorrespondenceRejectorSampleConsensus::~CorrespondenceRejectorSampleConsensus
~CorrespondenceRejectorSampleConsensus()
Empty destructor.
Definition: correspondence_rejection_sample_consensus.h:92
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:429
pcl::registration::CorrespondenceRejectorSampleConsensus::setSaveInliers
void setSaveInliers(bool s)
Set whether to save inliers or not.
Definition: correspondence_rejection_sample_consensus.h:211
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_indices_
std::vector< int > inlier_indices_
Definition: correspondence_rejection_sample_consensus.h:240
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:430
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:54
pcl::registration::CorrespondenceRejectorSampleConsensus::max_iterations_
int max_iterations_
Definition: correspondence_rejection_sample_consensus.h:231
pcl::registration::CorrespondenceRejectorSampleConsensus::input_
PointCloudConstPtr input_
Definition: correspondence_rejection_sample_consensus.h:233
pcl::registration::CorrespondenceRejectorSampleConsensus::save_inliers_
bool save_inliers_
Definition: correspondence_rejection_sample_consensus.h:241
pcl::registration::CorrespondenceRejectorSampleConsensus::getInputTarget
const PointCloudConstPtr getInputTarget()
Get a pointer to the input point cloud dataset target.
Definition: correspondence_rejection_sample_consensus.h:123
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:189
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:106
pcl::registration::CorrespondenceRejectorSampleConsensus::inlier_threshold_
double inlier_threshold_
Definition: correspondence_rejection_sample_consensus.h:229
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
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: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