registration_correspondences_check.h
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00001 /*
00002  * Copyright (c) 2010, Hozefa Indorewala <indorewala@ias.in.tum.de>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Based on code written by Radu Rusu
00032  * Modified by Hozefa Indorewala
00033  */
00034 #ifndef _REGISTRATION_CORRESPONDENCES_CHECK_H_
00035 #define _REGISTRATION_CORRESPONDENCES_CHECK_H_
00036 
00037 #include <boost/function.hpp>
00038 #include <boost/bind.hpp>
00039 
00040 // PCL includes
00041 #include <pcl/pcl_base.h>
00042 
00043 #include "pcl/kdtree/kdtree.h"
00044 #include "pcl/kdtree/kdtree_flann.h"
00045 
00046 #include "pcl/registration/transforms.h"
00047 
00048 namespace pcl
00049 {
00053 
00056   template <typename PointSource, typename PointTarget>
00057   class RegistrationCorrespondencesCheck: public PCLBase<PointSource>
00058   {
00059     using PCLBase<PointSource>::initCompute;
00060     using PCLBase<PointSource>::deinitCompute;
00061 
00062     public:
00063       using PCLBase<PointSource>::input_;
00064       using PCLBase<PointSource>::indices_;
00065 
00066       typedef typename pcl::KdTree<PointTarget> KdTree;
00067       typedef typename pcl::KdTree<PointTarget>::Ptr KdTreePtr;
00068 
00069       typedef pcl::PointCloud<PointSource> PointCloudSource;
00070       typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
00071       typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
00072 
00073       typedef pcl::PointCloud<PointTarget> PointCloudTarget;
00074       typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
00075       typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
00076 
00078 
00079       RegistrationCorrespondencesCheck () : target_ (),
00080                         final_transformation_ (Eigen::Matrix4f::Identity ()),
00081                         transformation_ (Eigen::Matrix4f::Identity ()),
00082                         previous_transformation_ (Eigen::Matrix4f::Identity ()),
00083                         transformation_epsilon_ (0.0), corr_dist_threshold_ (std::numeric_limits<double>::max ()),
00084                         converged_ (false), min_number_correspondences_ (3), k_ (1)
00085       {
00086         tree_ = boost::make_shared<pcl::KdTreeFLANN<PointTarget> > ();     // ANN tree for nearest neighbor search
00087       }
00088 
00090 
00091       virtual ~RegistrationCorrespondencesCheck () {};
00092 
00094 
00098       virtual inline void setInputTarget (const PointCloudTargetConstPtr &cloud);
00099 
00101 
00102       inline PointCloudTargetConstPtr const getInputTarget () { return (target_ ); }
00103 
00105 
00106       inline Eigen::Matrix4f getFinalTransformation () { return (final_transformation_); }
00107 
00109 
00110       inline Eigen::Matrix4f getLastIncrementalTransformation () { return (transformation_); }
00111 
00113 
00116       inline void setMaximumIterations (int nr_iterations) { max_iterations_ = nr_iterations; }
00117 
00119 
00120       inline int getMaximumIterations () { return (max_iterations_); }
00121 
00123 
00128       inline void setMaxCorrespondenceDistance (double distance_threshold) { corr_dist_threshold_ = distance_threshold; }
00129 
00131 
00134       inline double getMaxCorrespondenceDistance () { return (corr_dist_threshold_); }
00135 
00137 
00142       inline void setTransformationEpsilon (double epsilon) { transformation_epsilon_ = epsilon; }
00143 
00145 
00148       inline double getTransformationEpsilon () { return (transformation_epsilon_); }
00149 
00150 
00152 
00155       inline void
00156         setPointRepresentation (const typename KdTree::PointRepresentationConstPtr &point_representation)
00157       {
00158         tree_->setPointRepresentation (point_representation);
00159       }
00160 
00162 
00165       inline double getFitnessScore (double max_range = std::numeric_limits<double>::max ());
00166 
00168 
00171       inline void align (PointCloudSource &output);
00172 
00173     protected:
00175       std::string reg_name_;
00176 
00178       KdTreePtr tree_;
00179 
00181       int nr_iterations_;
00182 
00184       int max_iterations_;
00185 
00187       PointCloudTargetConstPtr target_;
00188 
00190       Eigen::Matrix4f final_transformation_;
00191 
00193       Eigen::Matrix4f transformation_;
00194 
00196       Eigen::Matrix4f previous_transformation_;
00197 
00199       double transformation_epsilon_;
00200 
00204       double corr_dist_threshold_;
00205 
00207       bool converged_;
00208 
00210       int min_number_correspondences_;
00211 
00213 
00221       inline bool
00222         searchForNeighbors (const PointCloudSource &cloud, int index, double radius, int max_nn, std::vector<int> &indices, std::vector<float> &distances)
00223       {
00224         return (tree_->radiusSearch (cloud, index, radius, indices, distances, max_nn));
00225       }
00226 
00228 
00229       inline const std::string& getClassName () const { return (reg_name_); }
00230 
00231     private:
00233 
00234       virtual void computeTransformation (PointCloudSource &output) = 0;
00235 
00237       int k_;
00238   };
00239 }
00240 
00241 #include "pointcloud_registration/icp/registration_correspondences_check.hpp"
00242 
00243 #endif  //#ifndef _REGISTRATION_CORRESPONDENCES_CHECK_H_
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pointcloud_registration
Author(s): Hozefa Indorewala
autogenerated on Sun Oct 6 2013 11:55:57