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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_
#include <pcl/registration/correspondence_rejection.h>
#include <pcl/point_cloud.h>
#include <vector>
namespace pcl
{
namespace registration
{
/**
* @b CorrespondenceRejectoVarTrimmed implements a simple correspondence
* rejection method by considering as inliers a certain percentage of correspondences
* with the least distances. The percentage of inliers is computed internally as mentioned
* in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
*
* \note If \ref setInputCloud and \ref setInputTarget are given, then the
* distances between correspondences will be estimated using the given XYZ
* data, and not read from the set of input correspondences.
*
* \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
* \ingroup registration
*/
class PCL_EXPORTS CorrespondenceRejectorVarTrimmed: public CorrespondenceRejector
{
using CorrespondenceRejector::input_correspondences_;
using CorrespondenceRejector::rejection_name_;
using CorrespondenceRejector::getClassName;
public:
typedef boost::shared_ptr<CorrespondenceRejectorVarTrimmed> Ptr;
typedef boost::shared_ptr<const CorrespondenceRejectorVarTrimmed> ConstPtr;
/** \brief Empty constructor. */
CorrespondenceRejectorVarTrimmed () :
trimmed_distance_ (0),
factor_ (),
min_ratio_ (0.05),
max_ratio_ (0.95),
lambda_ (0.95),
data_container_ ()
{
rejection_name_ = "CorrespondenceRejectorVarTrimmed";
}
/** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
* \param[in] original_correspondences the set of initial correspondences given
* \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
*/
void
getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
pcl::Correspondences& remaining_correspondences);
/** \brief Get the trimmed distance used for thresholding in correspondence rejection. */
inline double
getTrimmedDistance () const { return trimmed_distance_; };
/** \brief Provide a source point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
* \param[in] cloud a cloud containing XYZ data
*/
template <typename PointT> inline void
setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
{
if (!data_container_)
data_container_.reset (new DataContainer<PointT>);
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
}
/** \brief Provide a source point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
* \param[in] cloud a cloud containing XYZ data
*/
template <typename PointT> inline void
setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)
{
PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n", getClassName ().c_str ());
if (!data_container_)
data_container_.reset (new DataContainer<PointT>);
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputSource (cloud);
}
/** \brief Provide a target point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
* \param[in] target a cloud containing XYZ data
*/
template <typename PointT> inline void
setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target)
{
if (!data_container_)
data_container_.reset (new DataContainer<PointT>);
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
}
/** \brief See if this rejector requires source points */
bool
requiresSourcePoints () const
{ return (true); }
/** \brief Blob method for setting the source cloud */
void
setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
fromPCLPointCloud2 (*cloud2, *cloud);
setInputSource<PointXYZ> (cloud);
}
/** \brief See if this rejector requires a target cloud */
bool
requiresTargetPoints () const
{ return (true); }
/** \brief Method for setting the target cloud */
void
setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
fromPCLPointCloud2 (*cloud2, *cloud);
setInputTarget<PointXYZ> (cloud);
}
/** \brief Provide a pointer to the search object used to find correspondences in
* the target cloud.
* \param[in] tree a pointer to the spatial search object.
* \param[in] force_no_recompute If set to true, this tree will NEVER be
* recomputed, regardless of calls to setInputTarget. Only use if you are
* confident that the tree will be set correctly.
*/
template <typename PointT> inline void
setSearchMethodTarget (const boost::shared_ptr<pcl::search::KdTree<PointT> > &tree,
bool force_no_recompute = false)
{
boost::static_pointer_cast< DataContainer<PointT> >
(data_container_)->setSearchMethodTarget (tree, force_no_recompute );
}
/** \brief Get the computed inlier ratio used for thresholding in correspondence rejection. */
inline double
getTrimFactor () const { return factor_; }
/** brief set the minimum overlap ratio
* \param[in] ratio the overlap ratio [0..1]
*/
inline void
setMinRatio (double ratio) { min_ratio_ = ratio; }
/** brief get the minimum overlap ratio
*/
inline double
getMinRatio () const { return min_ratio_; }
/** brief set the maximum overlap ratio
* \param[in] ratio the overlap ratio [0..1]
*/
inline void
setMaxRatio (double ratio) { max_ratio_ = ratio; }
/** brief get the maximum overlap ratio
*/
inline double
getMaxRatio () const { return max_ratio_; }
protected:
/** \brief Apply the rejection algorithm.
* \param[out] correspondences the set of resultant correspondences.
*/
inline void
applyRejection (pcl::Correspondences &correspondences)
{
getRemainingCorrespondences (*input_correspondences_, correspondences);
}
/** \brief The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.
*/
double trimmed_distance_;
/** \brief The factor for correspondence rejection. Only factor times the total points sorted based on
* the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is
* computed internally
*/
double factor_;
/** \brief The minimum overlap ratio between the input and target clouds
*/
double min_ratio_;
/** \brief The maximum overlap ratio between the input and target clouds
*/
double max_ratio_;
/** \brief part of the term that balances the root mean square difference. This is an internal parameter
*/
double lambda_;
typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr;
/** \brief A pointer to the DataContainer object containing the input and target point clouds */
DataContainerPtr data_container_;
private:
/** \brief finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
*/
inline float optimizeInlierRatio (std::vector <double> &dists);
};
}
}
#include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp>
#endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_