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 |
Public Member Functions | |
| CorrespondenceRejectorPoly () | |
| Empty constructor. | |
| 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. | |
| void | setInputSource (const PointCloudSourceConstPtr &cloud) |
| Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. | |
| void | setInputCloud (const PointCloudSourceConstPtr &cloud) |
| Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. | |
| void | setInputTarget (const PointCloudTargetConstPtr &target) |
| Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. | |
| void | setCardinality (int cardinality) |
| Set the polygon cardinality. | |
| int | getCardinality () |
| Get the polygon cardinality. | |
| void | setSimilarityThreshold (float similarity_threshold) |
| Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match. | |
| float | getSimilarityThreshold () |
| Get the similarity threshold between edge lengths. | |
| void | setIterations (int iterations) |
| Set the number of iterations. | |
| int | getIterations () |
| Get the number of iterations. | |
| bool | thresholdPolygon (const pcl::Correspondences &corr, const std::vector< int > &idx) |
| Polygonal rejection of a single polygon, indexed by a subset of correspondences. | |
| 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. | |
Protected Member Functions | |
| void | applyRejection (pcl::Correspondences &correspondences) |
| Apply the rejection algorithm. | |
| std::vector< int > | getUniqueRandomIndices (int n, int k) |
| Get k unique random indices in range {0,. | |
| float | computeSquaredDistance (const SourceT &p1, const TargetT &p2) |
| Squared Euclidean distance between two points using the members x, y and z. | |
| bool | thresholdEdgeLength (int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq) |
| Edge length similarity thresholding. | |
| std::vector< int > | computeHistogram (const std::vector< float > &data, float lower, float upper, int bins) |
| Compute a linear histogram. | |
| int | findThresholdOtsu (const std::vector< int > &histogram) |
| Find the optimal value for binary histogram thresholding using Otsu's method. | |
Protected Attributes | |
| PointCloudSourceConstPtr | input_ |
| The input point cloud dataset. | |
| PointCloudTargetConstPtr | target_ |
| The input point cloud dataset target. | |
| int | iterations_ |
| Number of iterations to run. | |
| int | cardinality_ |
| The polygon cardinality used during rejection. | |
| float | similarity_threshold_ |
| Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match. | |
| float | similarity_threshold_squared_ |
| Squared value if similarity_threshold_, only for internal use. | |
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 |
Reimplemented from pcl::registration::CorrespondenceRejector.
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 |
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 71 of file correspondence_rejection_poly.h.
| pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::CorrespondenceRejectorPoly | ( | ) | [inline] |
Empty constructor.
Definition at line 83 of file correspondence_rejection_poly.h.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
| [out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 237 of file correspondence_rejection_poly.h.
| std::vector< int > pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeHistogram | ( | const std::vector< float > & | data, | |
| float | lower, | |||
| float | upper, | |||
| int | bins | |||
| ) | [inline, protected] |
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.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
| float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeSquaredDistance | ( | const SourceT & | p1, | |
| const TargetT & | p2 | |||
| ) | [inline, protected] |
Squared Euclidean distance between two points using the members x, y and z.
| p1 | first point | |
| p2 | second point |
Definition at line 282 of file correspondence_rejection_poly.h.
| int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::findThresholdOtsu | ( | const std::vector< int > & | histogram | ) | [inline, protected] |
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.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
| int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getCardinality | ( | ) | [inline] |
Get the polygon cardinality.
Definition at line 142 of file correspondence_rejection_poly.h.
| int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getIterations | ( | ) | [inline] |
Get the number of iterations.
Definition at line 180 of file correspondence_rejection_poly.h.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences | ( | const pcl::Correspondences & | original_correspondences, | |
| pcl::Correspondences & | remaining_correspondences | |||
| ) | [inline, virtual] |
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.
References pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::cardinality_, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeHistogram(), pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::findThresholdOtsu(), pcl::registration::CorrespondenceRejector::getClassName(), pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getUniqueRandomIndices(), pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::input_, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::iterations_, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_squared_, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::target_, and pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::thresholdPolygon().
| float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getSimilarityThreshold | ( | ) | [inline] |
Get the similarity threshold between edge lengths.
Definition at line 162 of file correspondence_rejection_poly.h.
| std::vector<int> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getUniqueRandomIndices | ( | int | n, | |
| int | k | |||
| ) | [inline, protected] |
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 249 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setCardinality | ( | int | cardinality | ) | [inline] |
Set the polygon cardinality.
| cardinality | polygon cardinality |
Definition at line 133 of file correspondence_rejection_poly.h.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setInputCloud | ( | const PointCloudSourceConstPtr & | cloud | ) | [inline] |
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.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setInputSource | ( | const PointCloudSourceConstPtr & | cloud | ) | [inline] |
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.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setInputTarget | ( | const PointCloudTargetConstPtr & | target | ) | [inline] |
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.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setIterations | ( | int | iterations | ) | [inline] |
Set the number of iterations.
| iterations | number of iterations |
Definition at line 171 of file correspondence_rejection_poly.h.
| void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setSimilarityThreshold | ( | float | similarity_threshold | ) | [inline] |
Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match.
| similarity | similarity threshold |
Definition at line 152 of file correspondence_rejection_poly.h.
| bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::thresholdEdgeLength | ( | int | index_query_1, | |
| int | index_query_2, | |||
| int | index_match_1, | |||
| int | index_match_2, | |||
| float | simsq | |||
| ) | [inline, protected] |
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 300 of file correspondence_rejection_poly.h.
| bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::thresholdPolygon | ( | const std::vector< int > & | source_indices, | |
| const std::vector< int > & | target_indices | |||
| ) | [inline] |
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 217 of file correspondence_rejection_poly.h.
| bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::thresholdPolygon | ( | const pcl::Correspondences & | corr, | |
| const std::vector< int > & | idx | |||
| ) | [inline] |
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 191 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::cardinality_ [protected] |
The polygon cardinality used during rejection.
Definition at line 344 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
PointCloudSourceConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::input_ [protected] |
The input point cloud dataset.
Definition at line 335 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::iterations_ [protected] |
Number of iterations to run.
Definition at line 341 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_ [protected] |
Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match.
Definition at line 347 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_squared_ [protected] |
Squared value if similarity_threshold_, only for internal use.
Definition at line 350 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
PointCloudTargetConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::target_ [protected] |
The input point cloud dataset target.
Definition at line 338 of file correspondence_rejection_poly.h.
Referenced by pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences().
