|
| FPCSInitialAlignment () |
| Constructor. More...
|
|
| ~FPCSInitialAlignment () |
| Destructor. More...
|
|
void | setTargetIndices (const IndicesPtr &target_indices) |
| Provide a pointer to the vector of target indices. More...
|
|
IndicesPtr | getTargetIndices () const |
|
void | setSourceNormals (const NormalsConstPtr &source_normals) |
| Provide a pointer to the normals of the source point cloud. More...
|
|
NormalsConstPtr | getSourceNormals () const |
|
void | setTargetNormals (const NormalsConstPtr &target_normals) |
| Provide a pointer to the normals of the target point cloud. More...
|
|
NormalsConstPtr | getTargetNormals () const |
|
void | setNumberOfThreads (int nr_threads) |
| Set the number of used threads if OpenMP is activated. More...
|
|
int | getNumberOfThreads () const |
|
void | setDelta (float delta, bool normalize=false) |
| Set the constant factor delta which weights the internally calculated parameters. More...
|
|
float | getDelta () const |
|
void | setApproxOverlap (float approx_overlap) |
| Set the approximate overlap between source and target. More...
|
|
float | getApproxOverlap () const |
|
void | setScoreThreshold (float score_threshold) |
| Set the scoring threshold used for early finishing the method. More...
|
|
float | getScoreThreshold () const |
|
void | setNumberOfSamples (int nr_samples) |
| Set the number of source samples to use during alignment. More...
|
|
int | getNumberOfSamples () const |
|
void | setMaxNormalDifference (float max_norm_diff) |
| Set the maximum normal difference between valid point correspondences in degree. More...
|
|
float | getMaxNormalDifference () const |
|
void | setMaxComputationTime (int max_runtime) |
| Set the maximum computation time in seconds. More...
|
|
int | getMaxComputationTime () const |
|
float | getFitnessScore () const |
|
| Registration () |
| Empty constructor. More...
|
|
| ~Registration () |
| destructor. More...
|
|
void | setTransformationEstimation (const TransformationEstimationPtr &te) |
| Provide a pointer to the transformation estimation object. More...
|
|
void | setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) |
| Provide a pointer to the correspondence estimation object. More...
|
|
virtual void | setInputSource (const PointCloudSourceConstPtr &cloud) |
| Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
|
|
const PointCloudSourceConstPtr | getInputSource () |
| Get a pointer to the input point cloud dataset target. More...
|
|
virtual void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
| Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...
|
|
const PointCloudTargetConstPtr | getInputTarget () |
| Get a pointer to the input point cloud dataset target. More...
|
|
void | setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false) |
| Provide a pointer to the search object used to find correspondences in the target cloud. More...
|
|
KdTreePtr | getSearchMethodTarget () const |
| Get a pointer to the search method used to find correspondences in the target cloud. More...
|
|
void | setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
| Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...
|
|
KdTreeReciprocalPtr | getSearchMethodSource () const |
| Get a pointer to the search method used to find correspondences in the source cloud. More...
|
|
Matrix4 | getFinalTransformation () |
| Get the final transformation matrix estimated by the registration method. More...
|
|
Matrix4 | getLastIncrementalTransformation () |
| Get the last incremental transformation matrix estimated by the registration method. More...
|
|
void | setMaximumIterations (int nr_iterations) |
| Set the maximum number of iterations the internal optimization should run for. More...
|
|
int | getMaximumIterations () |
| Get the maximum number of iterations the internal optimization should run for, as set by the user. More...
|
|
void | setRANSACIterations (int ransac_iterations) |
| Set the number of iterations RANSAC should run for. More...
|
|
double | getRANSACIterations () |
| Get the number of iterations RANSAC should run for, as set by the user. More...
|
|
void | setRANSACOutlierRejectionThreshold (double inlier_threshold) |
| Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More...
|
|
double | getRANSACOutlierRejectionThreshold () |
| Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More...
|
|
void | setMaxCorrespondenceDistance (double distance_threshold) |
| Set the maximum distance threshold between two correspondent points in source <-> target. More...
|
|
double | getMaxCorrespondenceDistance () |
| Get the maximum distance threshold between two correspondent points in source <-> target. More...
|
|
void | setTransformationEpsilon (double epsilon) |
| Set the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
|
|
double | getTransformationEpsilon () |
| Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More...
|
|
void | setTransformationRotationEpsilon (double epsilon) |
| Set the transformation rotation epsilon (maximum allowable rotation difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
|
|
double | getTransformationRotationEpsilon () |
| Get the transformation rotation epsilon (maximum allowable difference between two consecutive transformations) as set by the user (epsilon is the cos(angle) in a axis-angle representation). More...
|
|
void | setEuclideanFitnessEpsilon (double epsilon) |
| Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
|
|
double | getEuclideanFitnessEpsilon () |
| Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More...
|
|
void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
| Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...
|
|
bool | registerVisualizationCallback (std::function< UpdateVisualizerCallbackSignature > &visualizerCallback) |
| Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More...
|
|
double | getFitnessScore (double max_range=std::numeric_limits< double >::max()) |
| Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) More...
|
|
double | getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b) |
| Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More...
|
|
bool | hasConverged () const |
| Return the state of convergence after the last align run. More...
|
|
void | align (PointCloudSource &output) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
|
|
void | align (PointCloudSource &output, const Matrix4 &guess) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
|
|
const std::string & | getClassName () const |
| Abstract class get name method. More...
|
|
bool | initCompute () |
| Internal computation initialization. More...
|
|
bool | initComputeReciprocal () |
| Internal computation when reciprocal lookup is needed. More...
|
|
void | addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector) |
| Add a new correspondence rejector to the list. More...
|
|
std::vector< CorrespondenceRejectorPtr > | getCorrespondenceRejectors () |
| Get the list of correspondence rejectors. More...
|
|
bool | removeCorrespondenceRejector (unsigned int i) |
| Remove the i-th correspondence rejector in the list. More...
|
|
void | clearCorrespondenceRejectors () |
| Clear the list of correspondence rejectors. More...
|
|
| PCLBase () |
| Empty constructor. More...
|
|
| PCLBase (const PCLBase &base) |
| Copy constructor. More...
|
|
virtual | ~PCLBase ()=default |
| Destructor. More...
|
|
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
|
|
const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
|
|
virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
|
|
virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
|
|
virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
|
|
virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More...
|
|
IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More...
|
|
const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More...
|
|
const PointSource & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More...
|
|
|
void | computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess) override |
| Rigid transformation computation method. More...
|
|
virtual bool | initCompute () |
| Internal computation initialization. More...
|
|
int | selectBase (std::vector< int > &base_indices, float(&ratio)[2]) |
| Select an approximately coplanar set of four points from the source cloud. More...
|
|
int | selectBaseTriangle (std::vector< int > &base_indices) |
| Select randomly a triplet of points with large point-to-point distances. More...
|
|
void | setupBase (std::vector< int > &base_indices, float(&ratio)[2]) |
| Setup the base (four coplanar points) by ordering the points and computing intersection ratios and segment to segment distances of base diagonal. More...
|
|
float | segmentToSegmentDist (const std::vector< int > &base_indices, float(&ratio)[2]) |
| Calculate intersection ratios and segment to segment distances of base diagonals. More...
|
|
virtual int | bruteForceCorrespondences (int idx1, int idx2, pcl::Correspondences &pairs) |
| Search for corresponding point pairs given the distance between two base points. More...
|
|
virtual int | determineBaseMatches (const std::vector< int > &base_indices, std::vector< std::vector< int >> &matches, const pcl::Correspondences &pairs_a, const pcl::Correspondences &pairs_b, const float(&ratio)[2]) |
| Determine base matches by combining the point pair candidate and search for coinciding intersection points using the diagonal segment ratios of base B. More...
|
|
int | checkBaseMatch (const std::vector< int > &match_indices, const float(&ds)[4]) |
| Check if outer rectangle distance of matched points fit with the base rectangle. More...
|
|
virtual void | handleMatches (const std::vector< int > &base_indices, std::vector< std::vector< int >> &matches, MatchingCandidates &candidates) |
| Method to handle current candidate matches. More...
|
|
virtual void | linkMatchWithBase (const std::vector< int > &base_indices, std::vector< int > &match_indices, pcl::Correspondences &correspondences) |
| Sets the correspondences between the base B and the match M by using the distance of each point to the centroid of the rectangle. More...
|
|
virtual int | validateMatch (const std::vector< int > &base_indices, const std::vector< int > &match_indices, const pcl::Correspondences &correspondences, Eigen::Matrix4f &transformation) |
| Validate the matching by computing the transformation between the source and target based on the four matched points and by comparing the mean square error (MSE) to a threshold. More...
|
|
virtual int | validateTransformation (Eigen::Matrix4f &transformation, float &fitness_score) |
| Validate the transformation by calculating the number of inliers after transforming the source cloud. More...
|
|
virtual void | finalCompute (const std::vector< MatchingCandidates > &candidates) |
| Final computation of best match out of vector of best matches. More...
|
|
bool | searchForNeighbors (const PointCloudSource &cloud, int index, std::vector< int > &indices, std::vector< float > &distances) |
| Search for the closest nearest neighbor of a given point. More...
|
|
virtual void | computeTransformation (PointCloudSource &output, const Matrix4 &guess)=0 |
| Abstract transformation computation method with initial guess. More...
|
|
bool | initCompute () |
| This method should get called before starting the actual computation. More...
|
|
bool | deinitCompute () |
| This method should get called after finishing the actual computation. More...
|
|
|
NormalsConstPtr | source_normals_ |
| Normals of source point cloud. More...
|
|
NormalsConstPtr | target_normals_ |
| Normals of target point cloud. More...
|
|
int | nr_threads_ |
| Number of threads for parallelization (standard = 1). More...
|
|
float | approx_overlap_ |
| Estimated overlap between source and target (standard = 0.5). More...
|
|
float | delta_ |
| Delta value of 4pcs algorithm (standard = 1.0). More...
|
|
float | score_threshold_ |
| Score threshold to stop calculation with success. More...
|
|
int | nr_samples_ |
| The number of points to uniformly sample the source point cloud. More...
|
|
float | max_norm_diff_ |
| Maximum normal difference of corresponding point pairs in degrees (standard = 90). More...
|
|
int | max_runtime_ |
| Maximum allowed computation time in seconds (standard = 0 => ~unlimited). More...
|
|
float | fitness_score_ |
| Resulting fitness score of the best match. More...
|
|
float | diameter_ |
| Estimated diamter of the target point cloud. More...
|
|
float | max_base_diameter_sqr_ |
| Estimated squared metric overlap between source and target. More...
|
|
bool | use_normals_ |
| Use normals flag. More...
|
|
bool | normalize_delta_ |
| Normalize delta flag. More...
|
|
pcl::IndicesPtr | source_indices_ |
| A pointer to the vector of source point indices to use after sampling. More...
|
|
pcl::IndicesPtr | target_indices_ |
| A pointer to the vector of target point indices to use after sampling. More...
|
|
float | max_pair_diff_ |
| Maximal difference between corresponding point pairs in source and target. More...
|
|
float | max_edge_diff_ |
| Maximal difference between the length of the base edges and valid match edges. More...
|
|
float | coincidation_limit_ |
| Maximal distance between coinciding intersection points to find valid matches. More...
|
|
float | max_mse_ |
| Maximal mean squared errors of a transformation calculated from a candidate match. More...
|
|
float | max_inlier_dist_sqr_ |
| Maximal squared point distance between source and target points to count as inlier. More...
|
|
const float | small_error_ |
| Definition of a small error. More...
|
|
std::string | reg_name_ |
| The registration method name. More...
|
|
KdTreePtr | tree_ |
| A pointer to the spatial search object. More...
|
|
KdTreeReciprocalPtr | tree_reciprocal_ |
| A pointer to the spatial search object of the source. More...
|
|
int | nr_iterations_ |
| The number of iterations the internal optimization ran for (used internally). More...
|
|
int | max_iterations_ |
| The maximum number of iterations the internal optimization should run for. More...
|
|
int | ransac_iterations_ |
| The number of iterations RANSAC should run for. More...
|
|
PointCloudTargetConstPtr | target_ |
| The input point cloud dataset target. More...
|
|
Matrix4 | final_transformation_ |
| The final transformation matrix estimated by the registration method after N iterations. More...
|
|
Matrix4 | transformation_ |
| The transformation matrix estimated by the registration method. More...
|
|
Matrix4 | previous_transformation_ |
| The previous transformation matrix estimated by the registration method (used internally). More...
|
|
double | transformation_epsilon_ |
| The maximum difference between two consecutive transformations in order to consider convergence (user defined). More...
|
|
double | transformation_rotation_epsilon_ |
| The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More...
|
|
double | euclidean_fitness_epsilon_ |
| The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
|
|
double | corr_dist_threshold_ |
| The maximum distance threshold between two correspondent points in source <-> target. More...
|
|
double | inlier_threshold_ |
| The inlier distance threshold for the internal RANSAC outlier rejection loop. More...
|
|
bool | converged_ |
| Holds internal convergence state, given user parameters. More...
|
|
int | min_number_correspondences_ |
| The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More...
|
|
CorrespondencesPtr | correspondences_ |
| The set of correspondences determined at this ICP step. More...
|
|
TransformationEstimationPtr | transformation_estimation_ |
| A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More...
|
|
CorrespondenceEstimationPtr | correspondence_estimation_ |
| A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More...
|
|
std::vector< CorrespondenceRejectorPtr > | correspondence_rejectors_ |
| The list of correspondence rejectors to use. More...
|
|
bool | target_cloud_updated_ |
| Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...
|
|
bool | source_cloud_updated_ |
| Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...
|
|
bool | force_no_recompute_ |
| A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...
|
|
bool | force_no_recompute_reciprocal_ |
| A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...
|
|
std::function< UpdateVisualizerCallbackSignature > | update_visualizer_ |
| Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More...
|
|
PointCloudConstPtr | input_ |
| The input point cloud dataset. More...
|
|
IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More...
|
|
bool | use_indices_ |
| Set to true if point indices are used. More...
|
|
bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
|
|
template<typename PointSource, typename PointTarget, typename NormalT = pcl::Normal, typename Scalar = float>
class pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >
FPCSInitialAlignment computes corresponding four point congruent sets as described in: "4-points congruent sets for robust pairwise surface registration", Dror Aiger, Niloy Mitra, Daniel Cohen-Or.
ACM Transactions on Graphics, vol. 27(3), 2008
- Author
- P.W.Theiler
Definition at line 81 of file ia_fpcs.h.