00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Open Perception, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ 00039 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ 00040 00041 #include <pcl/registration/correspondence_rejection.h> 00042 #include <pcl/point_cloud.h> 00043 00044 #include <vector> 00045 00046 namespace pcl 00047 { 00048 namespace registration 00049 { 00063 class CorrespondenceRejectorVarTrimmed: public CorrespondenceRejector 00064 { 00065 using CorrespondenceRejector::input_correspondences_; 00066 using CorrespondenceRejector::rejection_name_; 00067 using CorrespondenceRejector::getClassName; 00068 00069 public: 00070 00072 CorrespondenceRejectorVarTrimmed () : trimmed_distance_(0), 00073 min_ratio_ (0.05), 00074 max_ratio_ (0.95), 00075 lambda_ (0.95), 00076 data_container_ () 00077 { 00078 rejection_name_ = "CorrespondenceRejectorVarTrimmed"; 00079 } 00080 00085 inline void 00086 getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 00087 pcl::Correspondences& remaining_correspondences); 00088 00090 inline double 00091 getTrimmedDistance () const { return trimmed_distance_; }; 00092 00097 template <typename PointT> inline void 00098 setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &cloud) 00099 { 00100 if (!data_container_) 00101 data_container_.reset (new DataContainer<PointT>); 00102 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputCloud (cloud); 00103 } 00104 00109 template <typename PointT> inline void 00110 setInputTarget (const typename pcl::PointCloud<PointT>::ConstPtr &target) 00111 { 00112 if (!data_container_) 00113 data_container_.reset (new DataContainer<PointT>); 00114 boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target); 00115 } 00116 00118 inline double 00119 getTrimFactor () const { return factor_; } 00120 00124 inline void 00125 setMinRatio (double ratio) { min_ratio_ = ratio; } 00126 00129 inline double 00130 getMinRatio () const { return min_ratio_; } 00131 00135 inline void 00136 setMaxRatio (double ratio) { max_ratio_ = ratio; } 00137 00140 inline double 00141 getMaxRatio () const { return max_ratio_; } 00142 00143 protected: 00144 00148 inline void 00149 applyRejection (pcl::Correspondences &correspondences) 00150 { 00151 getRemainingCorrespondences (*input_correspondences_, correspondences); 00152 } 00153 00156 double trimmed_distance_; 00157 00162 double factor_; 00163 00166 double min_ratio_; 00167 00170 double max_ratio_; 00171 00174 double lambda_; 00175 00176 typedef boost::shared_ptr<DataContainerInterface> DataContainerPtr; 00177 00179 DataContainerPtr data_container_; 00180 00181 private: 00182 00185 float optimizeInlierRatio (std::vector <double> &dists); 00186 }; 00187 } 00188 } 00189 00190 #include <pcl/registration/impl/correspondence_rejection_var_trimmed.hpp> 00191 00192 #endif