38 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
39 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
41 #include <pcl/registration/correspondence_rejection.h>
42 #include <pcl/point_cloud.h>
46 namespace registration
63 template <
typename SourceT,
typename TargetT>
71 typedef boost::shared_ptr<CorrespondenceRejectorPoly>
Ptr;
72 typedef boost::shared_ptr<const CorrespondenceRejectorPoly>
ConstPtr;
86 , similarity_threshold_ (0.75f)
87 , similarity_threshold_squared_ (0.75f * 0.75f)
89 rejection_name_ =
"CorrespondenceRejectorPoly";
115 PCL_WARN (
"[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n",
116 getClassName ().c_str ());
135 cardinality_ = cardinality;
144 return (cardinality_);
154 similarity_threshold_ = similarity_threshold;
155 similarity_threshold_squared_ = similarity_threshold * similarity_threshold;
164 return (similarity_threshold_);
173 iterations_ = iterations;
182 return (iterations_);
193 if (cardinality_ == 2)
195 return (thresholdEdgeLength (corr[ idx[0] ].index_query, corr[ idx[1] ].index_query,
196 corr[ idx[0] ].index_match, corr[ idx[1] ].index_match,
201 for (
int i = 0; i < cardinality_; ++i)
202 if (!thresholdEdgeLength (corr[ idx[i] ].index_query, corr[ idx[(i+1)%cardinality_] ].index_query,
203 corr[ idx[i] ].index_match, corr[ idx[(i+1)%cardinality_] ].index_match,
204 similarity_threshold_squared_))
217 thresholdPolygon (
const std::vector<int>& source_indices,
const std::vector<int>& target_indices)
221 std::vector<int> idx (cardinality_);
222 for (
int i = 0; i < cardinality_; ++i)
224 corr[i].index_query = source_indices[i];
225 corr[i].index_match = target_indices[i];
229 return (thresholdPolygon (corr, idx));
239 getRemainingCorrespondences (*input_correspondences_, correspondences);
248 inline std::vector<int>
252 std::vector<bool> sampled (n,
false);
255 std::vector<int> result;
260 const int idx = (std::rand () % n);
268 result.push_back (idx);
284 const float dx = p2.x - p1.x;
285 const float dy = p2.y - p1.y;
286 const float dz = p2.z - p1.z;
288 return (dx*dx + dy*dy + dz*dz);
307 const float dist_src = computeSquaredDistance ((*input_)[index_query_1], (*input_)[index_query_2]);
309 const float dist_tgt = computeSquaredDistance ((*target_)[index_match_1], (*target_)[index_match_2]);
311 const float edge_sim = (dist_src < dist_tgt ? dist_src / dist_tgt : dist_tgt / dist_src);
313 return (edge_sim >= simsq);
325 computeHistogram (
const std::vector<float>& data,
float lower,
float upper,
int bins);
332 findThresholdOtsu (
const std::vector<int>& histogram);
355 #include <pcl/registration/impl/correspondence_rejection_poly.hpp>
357 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
PointCloudSource::Ptr PointCloudSourcePtr
void setCardinality(int cardinality)
Set the polygon cardinality.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< const CorrespondenceRejectorPoly > ConstPtr
void setIterations(int iterations)
Set the number of iterations.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
bool thresholdEdgeLength(int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)
Edge length similarity thresholding.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
void setInputSource(const PointCloudSourceConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and p...
CorrespondenceRejectorPoly()
Empty constructor.
PointCloudTarget::Ptr PointCloudTargetPtr
float similarity_threshold_
Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect ma...
PointCloudTargetConstPtr target_
The input point cloud dataset target.
bool thresholdPolygon(const std::vector< int > &source_indices, const std::vector< int > &target_indices)
Polygonal rejection of a single polygon, indexed by two point index vectors.
int iterations_
Number of iterations to run.
int cardinality_
The polygon cardinality used during rejection.
std::vector< int > getUniqueRandomIndices(int n, int k)
Get k unique random indices in range {0,...,n-1} (sampling without replacement)
int getCardinality()
Get the polygon cardinality.
bool thresholdPolygon(const pcl::Correspondences &corr, const std::vector< int > &idx)
Polygonal rejection of a single polygon, indexed by a subset of correspondences.
int getIterations()
Get the number of iterations.
float similarity_threshold_squared_
Squared value if similarity_threshold_, only for internal use.
boost::shared_ptr< PointCloud< PointT > > Ptr
void setInputCloud(const PointCloudSourceConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
float computeSquaredDistance(const SourceT &p1, const TargetT &p2)
Squared Euclidean distance between two points using the members x, y and z.
const std::string & getClassName() const
Get a string representation of the name of this class.
void setInputTarget(const PointCloudTargetConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloudSource::ConstPtr PointCloudSourceConstPtr
boost::shared_ptr< CorrespondenceRejectorPoly > Ptr
pcl::PointCloud< TargetT > PointCloudTarget
pcl::PointCloud< SourceT > PointCloudSource
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
PointCloudTarget::ConstPtr PointCloudTargetConstPtr
float getSimilarityThreshold()
Get the similarity threshold between edge lengths.
PointCloudSourceConstPtr input_
The input point cloud dataset.
std::string rejection_name_
The name of the rejection method.
void setSimilarityThreshold(float similarity_threshold)
Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match.