Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences. More...
#include <pcl/recognition/cg/geometric_consistency.h>
Public Types |
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| using | PointCloud = pcl::PointCloud< PointModelT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | SceneCloudConstPtr = typename pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr |
 Public Types inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT > |
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| using | SceneCloud = pcl::PointCloud< PointSceneT > |
| using | SceneCloudPtr = typename SceneCloud::Ptr |
| using | SceneCloudConstPtr = typename SceneCloud::ConstPtr |
| Public Types inherited from pcl::PCLBase< PointModelT > |
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| using | PointCloud = pcl::PointCloud< PointModelT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions |
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| GeometricConsistencyGrouping () | |
| Constructor. More... |
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| void | setGCThreshold (int threshold) |
| Sets the minimum cluster size. More... |
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| int | getGCThreshold () const |
| Gets the minimum cluster size. More... |
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| void | setGCSize (double gc_size) |
| Sets the consensus set resolution. More... |
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| double | getGCSize () const |
| Gets the consensus set resolution. More... |
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| bool | recognize (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations) |
| The main function, recognizes instances of the model into the scene set by the user. More... |
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| bool | recognize (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > &transformations, std::vector< pcl::Correspondences > &clustered_corrs) |
| The main function, recognizes instances of the model into the scene set by the user. More... |
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| Public Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT > |
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| CorrespondenceGrouping () | |
| Empty constructor. More... |
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| ~CorrespondenceGrouping () | |
| destructor. More... |
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| virtual void | setSceneCloud (const SceneCloudConstPtr &scene) |
| Provide a pointer to the scene dataset. More... |
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| SceneCloudConstPtr | getSceneCloud () const |
| Getter for the scene dataset. More... |
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| virtual void | setModelSceneCorrespondences (const CorrespondencesConstPtr &corrs) |
| Provide a pointer to the precomputed correspondences between points in the input dataset and points in the scene dataset. More... |
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| CorrespondencesConstPtr | getModelSceneCorrespondences () const |
| Getter for the precomputed correspondences between points in the input dataset and points in the scene dataset. More... |
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| std::vector< double > | getCharacteristicScales () const |
| Getter for the vector of characteristic scales associated to each cluster. More... |
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| void | cluster (std::vector< Correspondences > &clustered_corrs) |
| Clusters the input correspondences belonging to different model instances. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointModelT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointModelT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | clusterCorrespondences (std::vector< Correspondences > &model_instances) override |
| Cluster the input correspondences in order to distinguish between different instances of the model into the scene. More... |
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| Protected Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointModelT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| int | gc_threshold_ |
| Minimum cluster size. More... |
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| double | gc_size_ |
| Resolution of the consensus set used to cluster correspondences together. More... |
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| std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > | found_transformations_ |
| Transformations found by clusterCorrespondences method. More... |
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| Protected Attributes inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT > |
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| SceneCloudConstPtr | scene_ |
| The scene cloud. More... |
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| CorrespondencesConstPtr | model_scene_corrs_ |
| The correspondences between points in the input and the scene datasets. More... |
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| std::vector< double > | corr_group_scale_ |
| characteristic scale associated to each correspondence subset; if the cg algorithm can not handle scale invariance, the size of the vector will be 0. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointModelT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointModelT, typename PointSceneT>
class pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >
Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences.
Definition at line 54 of file geometric_consistency.h.
Member Typedef Documentation
PointCloud
| using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloud = pcl::PointCloud<PointModelT> |
Definition at line 57 of file geometric_consistency.h.
PointCloudConstPtr
| using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 59 of file geometric_consistency.h.
PointCloudPtr
| using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 58 of file geometric_consistency.h.
SceneCloudConstPtr
| using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr = typename pcl::CorrespondenceGrouping<PointModelT, PointSceneT>::SceneCloudConstPtr |
Definition at line 61 of file geometric_consistency.h.
Constructor & Destructor Documentation
GeometricConsistencyGrouping()
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inline |
Constructor.
Definition at line 64 of file geometric_consistency.h.
Member Function Documentation
clusterCorrespondences()
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overrideprotectedvirtual |
Cluster the input correspondences in order to distinguish between different instances of the model into the scene.
- Parameters
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[out] model_instances a vector containing the clustered correspondences for each model found on the scene.
- Returns
- true if the clustering had been successful or false if errors have occurred.
Implements pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.
Definition at line 57 of file geometric_consistency.hpp.
References pcl::copyPointCloud(), pcl::geometry::distance(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInlierThreshold(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaximumIterations().
getGCSize()
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inline |
Gets the consensus set resolution.
- Returns
- the consensus set resolution.
Definition at line 104 of file geometric_consistency.h.
References pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_size_.
getGCThreshold()
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inline |
Gets the minimum cluster size.
- Returns
- the minimum cluster size used by GC.
Definition at line 84 of file geometric_consistency.h.
References pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_threshold_.
recognize() [1/2]
| bool pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::recognize | ( | std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & | transformations | ) |
The main function, recognizes instances of the model into the scene set by the user.
- Parameters
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[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene.
- Returns
- true if the recognition had been successful or false if errors have occurred.
Definition at line 153 of file geometric_consistency.hpp.
recognize() [2/2]
| bool pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::recognize | ( | std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > & | transformations, |
| std::vector< pcl::Correspondences > & | clustered_corrs | ||
| ) |
The main function, recognizes instances of the model into the scene set by the user.
- Parameters
-
[out] transformations a vector containing one transformation matrix for each instance of the model recognized into the scene. [out] clustered_corrs a vector containing the correspondences for each instance of the model found within the input data (the same output of clusterCorrespondences).
- Returns
- true if the recognition had been successful or false if errors have occurred.
Definition at line 162 of file geometric_consistency.hpp.
setGCSize()
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inline |
Sets the consensus set resolution.
This should be in metric units.
- Parameters
-
[in] gc_size consensus set resolution.
Definition at line 94 of file geometric_consistency.h.
References pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_size_.
setGCThreshold()
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inline |
Sets the minimum cluster size.
- Parameters
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[in] threshold the minimum cluster size
Definition at line 74 of file geometric_consistency.h.
References pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_threshold_.
Member Data Documentation
found_transformations_
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protected |
Transformations found by clusterCorrespondences method.
Definition at line 140 of file geometric_consistency.h.
gc_size_
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protected |
Resolution of the consensus set used to cluster correspondences together.
Definition at line 137 of file geometric_consistency.h.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCSize(), and pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCSize().
gc_threshold_
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protected |
Minimum cluster size.
It shouldn't be less than 3, since at least 3 correspondences are needed to compute the 6DOF pose
Definition at line 134 of file geometric_consistency.h.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCThreshold(), and pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCThreshold().
The documentation for this class was generated from the following files:
- pcl/recognition/cg/geometric_consistency.h
- pcl/recognition/impl/cg/geometric_consistency.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_geometric_consistency_grouping.html
