Point Cloud Library (PCL)
1.7.2
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CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and pose-invariant geometric constraints between two point sets by forming virtual polygons of a user-specifiable cardinality on each model using the input correspondences. More...
#include <pcl/registration/correspondence_rejection_poly.h>
Public Types | |
typedef boost::shared_ptr< CorrespondenceRejectorPoly > | Ptr |
typedef boost::shared_ptr< const CorrespondenceRejectorPoly > | ConstPtr |
typedef pcl::PointCloud< SourceT > | PointCloudSource |
typedef PointCloudSource::Ptr | PointCloudSourcePtr |
typedef PointCloudSource::ConstPtr | PointCloudSourceConstPtr |
typedef pcl::PointCloud< TargetT > | PointCloudTarget |
typedef PointCloudTarget::Ptr | PointCloudTargetPtr |
typedef PointCloudTarget::ConstPtr | PointCloudTargetConstPtr |
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typedef boost::shared_ptr< CorrespondenceRejector > | Ptr |
typedef boost::shared_ptr< const CorrespondenceRejector > | ConstPtr |
Public Member Functions | |
CorrespondenceRejectorPoly () | |
Empty constructor. More... | |
void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) |
Get a list of valid correspondences after rejection from the original set of correspondences. More... | |
void | setInputSource (const PointCloudSourceConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
void | setInputCloud (const PointCloudSourceConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
void | setInputTarget (const PointCloudTargetConstPtr &target) |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
bool | requiresSourcePoints () const |
See if this rejector requires source points. More... | |
void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) |
Blob method for setting the source cloud. More... | |
bool | requiresTargetPoints () const |
See if this rejector requires a target cloud. More... | |
void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) |
Method for setting the target cloud. More... | |
void | setCardinality (int cardinality) |
Set the polygon cardinality. More... | |
int | getCardinality () |
Get the polygon cardinality. More... | |
void | setSimilarityThreshold (float similarity_threshold) |
Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match. More... | |
float | getSimilarityThreshold () |
Get the similarity threshold between edge lengths. More... | |
void | setIterations (int iterations) |
Set the number of iterations. More... | |
int | getIterations () |
Get the number of iterations. More... | |
bool | thresholdPolygon (const pcl::Correspondences &corr, const std::vector< int > &idx) |
Polygonal rejection of a single polygon, indexed by a subset of correspondences. More... | |
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. More... | |
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CorrespondenceRejector () | |
Empty constructor. More... | |
virtual | ~CorrespondenceRejector () |
Empty destructor. More... | |
virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
Provide a pointer to the vector of the input correspondences. More... | |
CorrespondencesConstPtr | getInputCorrespondences () |
Get a pointer to the vector of the input correspondences. More... | |
void | getCorrespondences (pcl::Correspondences &correspondences) |
Run correspondence rejection. More... | |
void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices) |
Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More... | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... | |
virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source normals. More... | |
virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... | |
virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target normals. More... | |
Protected Member Functions | |
void | applyRejection (pcl::Correspondences &correspondences) |
Apply the rejection algorithm. More... | |
std::vector< int > | getUniqueRandomIndices (int n, int k) |
Get k unique random indices in range {0,...,n-1} (sampling without replacement) More... | |
float | computeSquaredDistance (const SourceT &p1, const TargetT &p2) |
Squared Euclidean distance between two points using the members x, y and z. More... | |
bool | thresholdEdgeLength (int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq) |
Edge length similarity thresholding. More... | |
std::vector< int > | computeHistogram (const std::vector< float > &data, float lower, float upper, int bins) |
Compute a linear histogram. More... | |
int | findThresholdOtsu (const std::vector< int > &histogram) |
Find the optimal value for binary histogram thresholding using Otsu's method. More... | |
Protected Attributes | |
PointCloudSourceConstPtr | input_ |
The input point cloud dataset. More... | |
PointCloudTargetConstPtr | target_ |
The input point cloud dataset target. More... | |
int | iterations_ |
Number of iterations to run. More... | |
int | cardinality_ |
The polygon cardinality used during rejection. More... | |
float | similarity_threshold_ |
Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match. More... | |
float | similarity_threshold_squared_ |
Squared value if similarity_threshold_, only for internal use. More... | |
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std::string | rejection_name_ |
The name of the rejection method. More... | |
CorrespondencesConstPtr | input_correspondences_ |
The input correspondences. More... | |
CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and pose-invariant geometric constraints between two point sets by forming virtual polygons of a user-specifiable cardinality on each model using the input correspondences.
These polygons are then checked in a pose-invariant manner (i.e. the side lengths must be approximately equal), and rejection is performed by thresholding these edge lengths.
If you use this in academic work, please cite:
A. G. Buch, D. Kraft, J.-K. Kämäräinen, H. G. Petersen and N. Krüger. Pose Estimation using Local Structure-Specific Shape and Appearance Context. International Conference on Robotics and Automation (ICRA), 2013.
Definition at line 64 of file correspondence_rejection_poly.h.
typedef boost::shared_ptr<const CorrespondenceRejectorPoly> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::ConstPtr |
Definition at line 72 of file correspondence_rejection_poly.h.
typedef pcl::PointCloud<SourceT> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSource |
Definition at line 74 of file correspondence_rejection_poly.h.
typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourceConstPtr |
Definition at line 76 of file correspondence_rejection_poly.h.
typedef PointCloudSource::Ptr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourcePtr |
Definition at line 75 of file correspondence_rejection_poly.h.
typedef pcl::PointCloud<TargetT> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTarget |
Definition at line 78 of file correspondence_rejection_poly.h.
typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetConstPtr |
Definition at line 80 of file correspondence_rejection_poly.h.
typedef PointCloudTarget::Ptr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetPtr |
Definition at line 79 of file correspondence_rejection_poly.h.
typedef boost::shared_ptr<CorrespondenceRejectorPoly> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::Ptr |
Definition at line 71 of file correspondence_rejection_poly.h.
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Empty constructor.
Definition at line 83 of file correspondence_rejection_poly.h.
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Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 265 of file correspondence_rejection_poly.h.
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Compute a linear histogram.
This function is equivalent to the MATLAB function histc, with the edges set as follows: lower:(upper-lower)/bins:upper
data | input samples |
lower | lower bound of input samples |
upper | upper bound of input samples |
bins | number of bins in output |
Definition at line 154 of file correspondence_rejection_poly.hpp.
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Squared Euclidean distance between two points using the members x, y and z.
p1 | first point |
p2 | second point |
Definition at line 310 of file correspondence_rejection_poly.h.
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Find the optimal value for binary histogram thresholding using Otsu's method.
histogram | input histogram |
Definition at line 173 of file correspondence_rejection_poly.hpp.
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Get the polygon cardinality.
Definition at line 170 of file correspondence_rejection_poly.h.
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Get the number of iterations.
Definition at line 208 of file correspondence_rejection_poly.h.
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Get a list of valid correspondences after rejection from the original set of correspondences.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 43 of file correspondence_rejection_poly.hpp.
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Get the similarity threshold between edge lengths.
Definition at line 190 of file correspondence_rejection_poly.h.
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Get k unique random indices in range {0,...,n-1} (sampling without replacement)
n | upper index range, exclusive |
k | number of unique indices to sample |
Definition at line 277 of file correspondence_rejection_poly.h.
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See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 131 of file correspondence_rejection_poly.h.
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See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 145 of file correspondence_rejection_poly.h.
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Set the polygon cardinality.
cardinality | polygon cardinality |
Definition at line 161 of file correspondence_rejection_poly.h.
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Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 113 of file correspondence_rejection_poly.h.
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Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 104 of file correspondence_rejection_poly.h.
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Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | target | a cloud containing XYZ data |
Definition at line 124 of file correspondence_rejection_poly.h.
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Set the number of iterations.
iterations | number of iterations |
Definition at line 199 of file correspondence_rejection_poly.h.
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Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match.
similarity_threshold | similarity threshold |
Definition at line 180 of file correspondence_rejection_poly.h.
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Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 136 of file correspondence_rejection_poly.h.
References pcl::fromPCLPointCloud2().
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Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 150 of file correspondence_rejection_poly.h.
References pcl::fromPCLPointCloud2().
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Edge length similarity thresholding.
index_query_1 | index of first source vertex |
index_query_2 | index of second source vertex |
index_match_1 | index of first target vertex |
index_match_2 | index of second target vertex |
simsq | squared similarity threshold in [0,1] |
Definition at line 328 of file correspondence_rejection_poly.h.
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Polygonal rejection of a single polygon, indexed by a subset of correspondences.
corr | all correspondences into input_ and target_ |
idx | sampled indices into correspondences, must have a size equal to cardinality_ |
Definition at line 219 of file correspondence_rejection_poly.h.
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Polygonal rejection of a single polygon, indexed by two point index vectors.
source_indices | indices of polygon points in input_, must have a size equal to cardinality_ |
target_indices | corresponding indices of polygon points in target_, must have a size equal to cardinality_ |
Definition at line 245 of file correspondence_rejection_poly.h.
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The polygon cardinality used during rejection.
Definition at line 372 of file correspondence_rejection_poly.h.
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The input point cloud dataset.
Definition at line 363 of file correspondence_rejection_poly.h.
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Number of iterations to run.
Definition at line 369 of file correspondence_rejection_poly.h.
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Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match.
Definition at line 375 of file correspondence_rejection_poly.h.
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Squared value if similarity_threshold_, only for internal use.
Definition at line 378 of file correspondence_rejection_poly.h.
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The input point cloud dataset target.
Definition at line 366 of file correspondence_rejection_poly.h.