Class that registers two point clouds based on their sets of PPFSignatures. More...
#include <pcl/registration/ppf_registration.h>
Classes | |
| struct | PoseWithVotes |
| Structure for storing a pose (represented as an Eigen::Affine3f) and an integer for counting votes. More... | |
Public Types | |
| typedef std::vector < PoseWithVotes, Eigen::aligned_allocator < PoseWithVotes > > | PoseWithVotesList |
| typedef pcl::PointCloud < PointSource > | PointCloudSource |
| typedef PointCloudSource::Ptr | PointCloudSourcePtr |
| typedef PointCloudSource::ConstPtr | PointCloudSourceConstPtr |
| typedef pcl::PointCloud < PointTarget > | PointCloudTarget |
| typedef PointCloudTarget::Ptr | PointCloudTargetPtr |
| typedef PointCloudTarget::ConstPtr | PointCloudTargetConstPtr |
Public Member Functions | |
| PPFRegistration () | |
| Empty constructor that initializes all the parameters of the algorithm with default values. | |
| void | setPositionClusteringThreshold (float clustering_position_diff_threshold) |
| Method for setting the position difference clustering parameter. | |
| float | getPositionClusteringThreshold () |
| Returns the parameter defining the position difference clustering parameter - distance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm). | |
| void | setRotationClusteringThreshold (float clustering_rotation_diff_threshold) |
| Method for setting the rotation clustering parameter. | |
| float | getRotationClusteringThreshold () |
| Returns the parameter defining the rotation clustering threshold. | |
| void | setSceneReferencePointSamplingRate (unsigned int scene_reference_point_sampling_rate) |
| Method for setting the scene reference point sampling rate. | |
| unsigned int | getSceneReferencePointSamplingRate () |
| Returns the parameter for the scene reference point sampling rate of the algorithm. | |
| void | setSearchMethod (PPFHashMapSearch::Ptr search_method) |
| Function that sets the search method for the algorithm. | |
| PPFHashMapSearch::Ptr | getSearchMethod () |
| Getter function for the search method of the class. | |
| 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). | |
Class that registers two point clouds based on their sets of PPFSignatures.
Please refer to the following publication for more details: B. Drost, M. Ulrich, N. Navab, S. Ilic Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 13-18 June 2010, San Francisco, CA
Definition at line 144 of file ppf_registration.h.
| typedef pcl::PointCloud<PointSource> pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSource |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 171 of file ppf_registration.h.
| typedef PointCloudSource::ConstPtr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSourceConstPtr |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 173 of file ppf_registration.h.
| typedef PointCloudSource::Ptr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSourcePtr |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 172 of file ppf_registration.h.
| typedef pcl::PointCloud<PointTarget> pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTarget |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 175 of file ppf_registration.h.
| typedef PointCloudTarget::ConstPtr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTargetConstPtr |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 177 of file ppf_registration.h.
| typedef PointCloudTarget::Ptr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTargetPtr |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 176 of file ppf_registration.h.
| typedef std::vector<PoseWithVotes, Eigen::aligned_allocator<PoseWithVotes> > pcl::PPFRegistration< PointSource, PointTarget >::PoseWithVotesList |
Definition at line 161 of file ppf_registration.h.
| pcl::PPFRegistration< PointSource, PointTarget >::PPFRegistration | ( | ) | [inline] |
Empty constructor that initializes all the parameters of the algorithm with default values.
Definition at line 181 of file ppf_registration.h.
| float pcl::PPFRegistration< PointSource, PointTarget >::getPositionClusteringThreshold | ( | ) | [inline] |
Returns the parameter defining the position difference clustering parameter - distance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm).
Definition at line 201 of file ppf_registration.h.
| float pcl::PPFRegistration< PointSource, PointTarget >::getRotationClusteringThreshold | ( | ) | [inline] |
Returns the parameter defining the rotation clustering threshold.
Definition at line 213 of file ppf_registration.h.
| unsigned int pcl::PPFRegistration< PointSource, PointTarget >::getSceneReferencePointSamplingRate | ( | ) | [inline] |
Returns the parameter for the scene reference point sampling rate of the algorithm.
Definition at line 223 of file ppf_registration.h.
| PPFHashMapSearch::Ptr pcl::PPFRegistration< PointSource, PointTarget >::getSearchMethod | ( | ) | [inline] |
Getter function for the search method of the class.
Definition at line 235 of file ppf_registration.h.
| void pcl::PPFRegistration< PointSource, PointTarget >::setInputTarget | ( | const PointCloudTargetConstPtr & | cloud | ) | [inline, virtual] |
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to).
| cloud | the input point cloud target |
Reimplemented from pcl::Registration< PointSource, PointTarget >.
Definition at line 109 of file ppf_registration.hpp.
References pcl::KdTreeFLANN< PointT, Dist >::setInputCloud(), and pcl::Registration< PointSource, PointTarget >::target_.
| void pcl::PPFRegistration< PointSource, PointTarget >::setPositionClusteringThreshold | ( | float | clustering_position_diff_threshold | ) | [inline] |
Method for setting the position difference clustering parameter.
| clustering_position_diff_threshold | distance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm) |
Definition at line 194 of file ppf_registration.h.
| void pcl::PPFRegistration< PointSource, PointTarget >::setRotationClusteringThreshold | ( | float | clustering_rotation_diff_threshold | ) | [inline] |
Method for setting the rotation clustering parameter.
| clustering_rotation_diff_threshold | rotation difference threshold below which two poses are considered to be in the same cluster (for the clustering phase of the algorithm) |
Definition at line 208 of file ppf_registration.h.
| void pcl::PPFRegistration< PointSource, PointTarget >::setSceneReferencePointSamplingRate | ( | unsigned int | scene_reference_point_sampling_rate | ) | [inline] |
Method for setting the scene reference point sampling rate.
| scene_reference_point_sampling_rate | sampling rate for the scene reference point |
Definition at line 219 of file ppf_registration.h.
| void pcl::PPFRegistration< PointSource, PointTarget >::setSearchMethod | ( | PPFHashMapSearch::Ptr | search_method | ) | [inline] |
Function that sets the search method for the algorithm.
| search_method | smart pointer to the search method to be set |
Definition at line 231 of file ppf_registration.h.
