correspondence_rejection_poly.h

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#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_
#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_

#include <pcl/registration/correspondence_rejection.h>
#include <pcl/point_cloud.h>

namespace pcl
{
  namespace registration
  {
    template <typename SourceT, typename TargetT>
    class PCL_EXPORTS CorrespondenceRejectorPoly: public CorrespondenceRejector
    {
      using CorrespondenceRejector::input_correspondences_;
      using CorrespondenceRejector::rejection_name_;
      using CorrespondenceRejector::getClassName;

      public:
        typedef boost::shared_ptr<CorrespondenceRejectorPoly> Ptr;
        typedef boost::shared_ptr<const CorrespondenceRejectorPoly> ConstPtr;
        
        typedef pcl::PointCloud<SourceT> PointCloudSource;
        typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
        typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
        
        typedef pcl::PointCloud<TargetT> PointCloudTarget;
        typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
        typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;

        CorrespondenceRejectorPoly ()
          : iterations_ (10000)
          , cardinality_ (3)
          , similarity_threshold_ (0.75f)
          , similarity_threshold_squared_ (0.75f * 0.75f)
        {
          rejection_name_ = "CorrespondenceRejectorPoly";
        }

        void 
        getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 
                                     pcl::Correspondences& remaining_correspondences);

        inline void 
        setInputSource (const PointCloudSourceConstPtr &cloud)
        {
          input_ = cloud;
        }

        inline void 
        setInputCloud (const PointCloudSourceConstPtr &cloud)
        {
          PCL_WARN ("[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n",
                    getClassName ().c_str ());
          input_ = cloud;
        }

        inline void 
        setInputTarget (const PointCloudTargetConstPtr &target)
        {
          target_ = target;
        }
        
        inline void 
        setCardinality (int cardinality)
        {
          cardinality_ = cardinality;
        }
        
        inline int 
        getCardinality ()
        {
          return (cardinality_);
        }
        
        inline void 
        setSimilarityThreshold (float similarity_threshold)
        {
          similarity_threshold_ = similarity_threshold;
          similarity_threshold_squared_ = similarity_threshold * similarity_threshold;
        }
        
        inline float 
        getSimilarityThreshold ()
        {
          return (similarity_threshold_);
        }
        
        inline void 
        setIterations (int iterations)
        {
          iterations_ = iterations;
        }
        
        inline int 
        getIterations ()
        {
          return (iterations_);
        }
        
        inline bool 
        thresholdPolygon (const pcl::Correspondences& corr, const std::vector<int>& idx)
        {
          if (cardinality_ == 2) // Special case: when two points are considered, we only have one edge
          {
            return (thresholdEdgeLength (corr[ idx[0] ].index_query, corr[ idx[1] ].index_query,
                                         corr[ idx[0] ].index_match, corr[ idx[1] ].index_match,
                                         cardinality_));
          }
          else
          { // Otherwise check all edges
            for (int i = 0; i < cardinality_; ++i)
              if (!thresholdEdgeLength (corr[ idx[i] ].index_query, corr[ idx[(i+1)%cardinality_] ].index_query,
                                        corr[ idx[i] ].index_match, corr[ idx[(i+1)%cardinality_] ].index_match,
                                        similarity_threshold_squared_))
                return (false);
            
            return (true);
          }
        }
        
        inline bool 
        thresholdPolygon (const std::vector<int>& source_indices, const std::vector<int>& target_indices)
        {
          // Convert indices to correspondences and an index vector pointing to each element
          pcl::Correspondences corr (cardinality_);
          std::vector<int> idx (cardinality_);
          for (int i = 0; i < cardinality_; ++i)
          {
            corr[i].index_query = source_indices[i];
            corr[i].index_match = target_indices[i];
            idx[i] = i;
          }
          
          return (thresholdPolygon (corr, idx));
        }

      protected:
        inline void 
        applyRejection (pcl::Correspondences &correspondences)
        {
          getRemainingCorrespondences (*input_correspondences_, correspondences);
        }
        
        inline std::vector<int> 
        getUniqueRandomIndices (int n, int k)
        {
          // Marked sampled indices and sample counter
          std::vector<bool> sampled (n, false);
          int samples = 0;
          // Resulting unique indices
          std::vector<int> result;
          result.reserve (k);
          do
          {
            // Pick a random index in the range
            const int idx = (std::rand () % n);
            // If unique
            if (!sampled[idx])
            {
              // Mark as sampled and increment result counter
              sampled[idx] = true;
              ++samples;
              // Store
              result.push_back (idx);
            }
          }
          while (samples < k);
          
          return (result);
        }
        
        inline float 
        computeSquaredDistance (const SourceT& p1, const TargetT& p2)
        {
          const float dx = p2.x - p1.x;
          const float dy = p2.y - p1.y;
          const float dz = p2.z - p1.z;
          
          return (dx*dx + dy*dy + dz*dz);
        }
        
        inline bool 
        thresholdEdgeLength (int index_query_1,
                             int index_query_2,
                             int index_match_1,
                             int index_match_2,
                             float simsq)
        {
          // Distance between source points
          const float dist_src = computeSquaredDistance ((*input_)[index_query_1], (*input_)[index_query_2]);
          // Distance between target points
          const float dist_tgt = computeSquaredDistance ((*target_)[index_match_1], (*target_)[index_match_2]);
          // Edge length similarity [0,1] where 1 is a perfect match
          const float edge_sim = (dist_src < dist_tgt ? dist_src / dist_tgt : dist_tgt / dist_src);
          
          return (edge_sim >= simsq);
        }
        
        std::vector<int> 
        computeHistogram (const std::vector<float>& data, float lower, float upper, int bins);
        
        int 
        findThresholdOtsu (const std::vector<int>& histogram);

        PointCloudSourceConstPtr input_;

        PointCloudTargetConstPtr target_;
        
        int iterations_;
        
        int cardinality_;
        
        float similarity_threshold_;
        
        float similarity_threshold_squared_;
    };
  }
}

#include <pcl/registration/impl/correspondence_rejection_poly.hpp>

#endif    // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_