KFPCSInitialAlignment computes corresponding four point congruent sets based on keypoints as described in: "Markerless point cloud registration with keypoint-based 4-points congruent sets", Pascal Theiler, Jan Dirk Wegner, Konrad Schindler. More...
#include <pcl/registration/ia_kfpcs.h>
Public Member Functions |
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| KFPCSInitialAlignment () | |
| Constructor. More... |
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| ~KFPCSInitialAlignment () override=default | |
| Destructor. More... |
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| void | setUpperTranslationThreshold (float upper_trl_boundary) |
| Set the upper translation threshold used for score evaluation. More... |
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| float | getUpperTranslationThreshold () const |
| void | setLowerTranslationThreshold (float lower_trl_boundary) |
| Set the lower translation threshold used for score evaluation. More... |
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| float | getLowerTranslationThreshold () const |
| void | setLambda (float lambda) |
| Set the weighting factor of the translation cost term. More... |
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| float | getLambda () const |
| void | getNBestCandidates (int n, float min_angle3d, float min_translation3d, MatchingCandidates &candidates) |
| Get the N best unique candidate matches according to their fitness score. More... |
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| void | getTBestCandidates (float t, float min_angle3d, float min_translation3d, MatchingCandidates &candidates) |
| Get all unique candidate matches with fitness scores above a threshold t. More... |
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 Public Member Functions inherited from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float > |
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| FPCSInitialAlignment () | |
| Constructor. More... |
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| ~FPCSInitialAlignment () override=default | |
| Destructor. More... |
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| void | setTargetIndices (const IndicesPtr &target_indices) |
| Provide a pointer to the vector of target indices. More... |
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| IndicesPtr | getTargetIndices () const |
| void | setSourceNormals (const NormalsConstPtr &source_normals) |
| Provide a pointer to the normals of the source point cloud. More... |
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| NormalsConstPtr | getSourceNormals () const |
| void | setTargetNormals (const NormalsConstPtr &target_normals) |
| Provide a pointer to the normals of the target point cloud. More... |
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| NormalsConstPtr | getTargetNormals () const |
| void | setNumberOfThreads (int nr_threads) |
| Set the number of used threads if OpenMP is activated. More... |
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| int | getNumberOfThreads () const |
| void | setDelta (float delta, bool normalize=false) |
| Set the constant factor delta which weights the internally calculated parameters. More... |
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| float | getDelta () const |
| void | setApproxOverlap (float approx_overlap) |
| Set the approximate overlap between source and target. More... |
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| float | getApproxOverlap () const |
| void | setScoreThreshold (float score_threshold) |
| Set the scoring threshold used for early finishing the method. More... |
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| float | getScoreThreshold () const |
| void | setNumberOfSamples (int nr_samples) |
| Set the number of source samples to use during alignment. More... |
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| int | getNumberOfSamples () const |
| void | setMaxNormalDifference (float max_norm_diff) |
| Set the maximum normal difference between valid point correspondences in degree. More... |
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| float | getMaxNormalDifference () const |
| void | setMaxComputationTime (int max_runtime) |
| Set the maximum computation time in seconds. More... |
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| int | getMaxComputationTime () const |
| float | getFitnessScore () const |
| Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, float > |
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| Registration () | |
| Empty constructor. More... |
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| ~Registration () override=default | |
| destructor. More... |
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| void | setTransformationEstimation (const TransformationEstimationPtr &te) |
| Provide a pointer to the transformation estimation object. More... |
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| void | setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) |
| Provide a pointer to the correspondence estimation object. More... |
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| 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... |
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| PointCloudSourceConstPtr const | getInputSource () |
| Get a pointer to the input point cloud dataset target. More... |
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| 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... |
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| PointCloudTargetConstPtr const | getInputTarget () |
| Get a pointer to the input point cloud dataset target. More... |
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| 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... |
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| KdTreePtr | getSearchMethodTarget () const |
| Get a pointer to the search method used to find correspondences in the target cloud. More... |
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| 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... |
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| KdTreeReciprocalPtr | getSearchMethodSource () const |
| Get a pointer to the search method used to find correspondences in the source cloud. More... |
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| Matrix4 | getFinalTransformation () |
| Get the final transformation matrix estimated by the registration method. More... |
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| Matrix4 | getLastIncrementalTransformation () |
| Get the last incremental transformation matrix estimated by the registration method. More... |
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| void | setMaximumIterations (int nr_iterations) |
| Set the maximum number of iterations the internal optimization should run for. More... |
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| int | getMaximumIterations () |
| Get the maximum number of iterations the internal optimization should run for, as set by the user. More... |
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| void | setRANSACIterations (int ransac_iterations) |
| Set the number of iterations RANSAC should run for. More... |
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| double | getRANSACIterations () |
| Get the number of iterations RANSAC should run for, as set by the user. More... |
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| void | setRANSACOutlierRejectionThreshold (double inlier_threshold) |
| Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More... |
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| double | getRANSACOutlierRejectionThreshold () |
| Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More... |
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| void | setMaxCorrespondenceDistance (double distance_threshold) |
| Set the maximum distance threshold between two correspondent points in source <-> target. More... |
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| double | getMaxCorrespondenceDistance () |
| Get the maximum distance threshold between two correspondent points in source <-> target. More... |
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| 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... |
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| double | getTransformationEpsilon () |
| Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More... |
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| 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... |
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| 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... |
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| 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... |
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| double | getEuclideanFitnessEpsilon () |
| Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More... |
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| void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
| Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More... |
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| 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... |
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| 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... |
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| 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... |
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| bool | hasConverged () const |
| Return the state of convergence after the last align run. More... |
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| void | align (PointCloudSource &output) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... |
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| void | align (PointCloudSource &output, const Matrix4 &guess) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... |
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| const std::string & | getClassName () const |
| Abstract class get name method. More... |
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| bool | initCompute () |
| Internal computation initialization. More... |
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| bool | initComputeReciprocal () |
| Internal computation when reciprocal lookup is needed. More... |
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| void | addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector) |
| Add a new correspondence rejector to the list. More... |
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| std::vector< CorrespondenceRejectorPtr > | getCorrespondenceRejectors () |
| Get the list of correspondence rejectors. More... |
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| bool | removeCorrespondenceRejector (unsigned int i) |
| Remove the i-th correspondence rejector in the list. More... |
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| void | clearCorrespondenceRejectors () |
| Clear the list of correspondence rejectors. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointSource > |
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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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| PointCloudConstPtr const | 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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| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointSource & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| bool | initCompute () override |
| Internal computation initialization. More... |
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| void | handleMatches (const pcl::Indices &base_indices, std::vector< pcl::Indices > &matches, MatchingCandidates &candidates) override |
| Method to handle current candidate matches. More... |
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| int | validateTransformation (Eigen::Matrix4f &transformation, float &fitness_score) override |
| Validate the transformation by calculating the score value after transforming the input source cloud. More... |
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| void | finalCompute (const std::vector< MatchingCandidates > &candidates) override |
| Final computation of best match out of vector of matches. More... |
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| Protected Member Functions inherited from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float > |
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| void | computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess) override |
| Rigid transformation computation method. More... |
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| int | selectBase (pcl::Indices &base_indices, float(&ratio)[2]) |
| Select an approximately coplanar set of four points from the source cloud. More... |
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| int | selectBaseTriangle (pcl::Indices &base_indices) |
| Select randomly a triplet of points with large point-to-point distances. More... |
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| void | setupBase (pcl::Indices &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... |
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| float | segmentToSegmentDist (const pcl::Indices &base_indices, float(&ratio)[2]) |
| Calculate intersection ratios and segment to segment distances of base diagonals. More... |
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| virtual int | bruteForceCorrespondences (int idx1, int idx2, pcl::Correspondences &pairs) |
| Search for corresponding point pairs given the distance between two base points. More... |
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| virtual int | determineBaseMatches (const pcl::Indices &base_indices, std::vector< pcl::Indices > &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... |
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| int | checkBaseMatch (const pcl::Indices &match_indices, const float(&ds)[4]) |
| Check if outer rectangle distance of matched points fit with the base rectangle. More... |
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| virtual void | linkMatchWithBase (const pcl::Indices &base_indices, pcl::Indices &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... |
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| virtual int | validateMatch (const pcl::Indices &base_indices, const pcl::Indices &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... |
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| Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, float > |
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| bool | searchForNeighbors (const PointCloudSource &cloud, int index, pcl::Indices &indices, std::vector< float > &distances) |
| Search for the closest nearest neighbor of a given point. More... |
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| virtual void | computeTransformation (PointCloudSource &output, const Matrix4 &guess)=0 |
| Abstract transformation computation method with initial guess. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointSource > |
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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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| float | lower_trl_boundary_ |
| Lower boundary for translation costs calculation. More... |
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| float | upper_trl_boundary_ |
| Upper boundary for translation costs calculation. More... |
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| float | lambda_ |
| Weighting factor for translation costs (standard = 0.5). More... |
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| MatchingCandidates | candidates_ |
| Container for resulting vector of registration candidates. More... |
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| bool | use_trl_score_ |
| Flag if translation score should be used in validation (internal calculation). More... |
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| pcl::IndicesPtr | indices_validation_ |
| Subset of input indices on which we evaluate candidates. More... |
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| Protected Attributes inherited from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float > |
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| NormalsConstPtr | source_normals_ |
| Normals of source point cloud. More... |
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| NormalsConstPtr | target_normals_ |
| Normals of target point cloud. More... |
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| int | nr_threads_ |
| Number of threads for parallelization (standard = 1). More... |
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| float | approx_overlap_ |
| Estimated overlap between source and target (standard = 0.5). More... |
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| float | delta_ |
| Delta value of 4pcs algorithm (standard = 1.0). More... |
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| float | score_threshold_ |
| Score threshold to stop calculation with success. More... |
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| int | nr_samples_ |
| The number of points to uniformly sample the source point cloud. More... |
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| float | max_norm_diff_ |
| Maximum normal difference of corresponding point pairs in degrees (standard = 90). More... |
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| int | max_runtime_ |
| Maximum allowed computation time in seconds (standard = 0 => ~unlimited). More... |
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| float | fitness_score_ |
| Resulting fitness score of the best match. More... |
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| float | diameter_ |
| Estimated diameter of the target point cloud. More... |
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| float | max_base_diameter_sqr_ |
| Estimated squared metric overlap between source and target. More... |
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| bool | use_normals_ |
| Use normals flag. More... |
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| bool | normalize_delta_ |
| Normalize delta flag. More... |
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| pcl::IndicesPtr | source_indices_ |
| A pointer to the vector of source point indices to use after sampling. More... |
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| pcl::IndicesPtr | target_indices_ |
| A pointer to the vector of target point indices to use after sampling. More... |
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| float | max_pair_diff_ |
| Maximal difference between corresponding point pairs in source and target. More... |
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| float | max_edge_diff_ |
| Maximal difference between the length of the base edges and valid match edges. More... |
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| float | coincidation_limit_ |
| Maximal distance between coinciding intersection points to find valid matches. More... |
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| float | max_mse_ |
| Maximal mean squared errors of a transformation calculated from a candidate match. More... |
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| float | max_inlier_dist_sqr_ |
| Maximal squared point distance between source and target points to count as inlier. More... |
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| const float | small_error_ |
| Definition of a small error. More... |
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| Protected Attributes inherited from pcl::Registration< PointSource, PointTarget, float > |
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| std::string | reg_name_ |
| The registration method name. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| KdTreeReciprocalPtr | tree_reciprocal_ |
| A pointer to the spatial search object of the source. More... |
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| int | nr_iterations_ |
| The number of iterations the internal optimization ran for (used internally). More... |
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| int | max_iterations_ |
| The maximum number of iterations the internal optimization should run for. More... |
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| int | ransac_iterations_ |
| The number of iterations RANSAC should run for. More... |
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| PointCloudTargetConstPtr | target_ |
| The input point cloud dataset target. More... |
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| Matrix4 | final_transformation_ |
| The final transformation matrix estimated by the registration method after N iterations. More... |
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| Matrix4 | transformation_ |
| The transformation matrix estimated by the registration method. More... |
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| Matrix4 | previous_transformation_ |
| The previous transformation matrix estimated by the registration method (used internally). More... |
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| double | transformation_epsilon_ |
| The maximum difference between two consecutive transformations in order to consider convergence (user defined). More... |
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| double | transformation_rotation_epsilon_ |
| The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More... |
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| 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... |
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| double | corr_dist_threshold_ |
| The maximum distance threshold between two correspondent points in source <-> target. More... |
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| double | inlier_threshold_ |
| The inlier distance threshold for the internal RANSAC outlier rejection loop. More... |
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| bool | converged_ |
| Holds internal convergence state, given user parameters. More... |
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| unsigned int | min_number_correspondences_ |
| The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More... |
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| CorrespondencesPtr | correspondences_ |
| The set of correspondences determined at this ICP step. More... |
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| TransformationEstimationPtr | transformation_estimation_ |
| A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More... |
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| CorrespondenceEstimationPtr | correspondence_estimation_ |
| A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More... |
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| std::vector< CorrespondenceRejectorPtr > | correspondence_rejectors_ |
| The list of correspondence rejectors to use. More... |
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| bool | target_cloud_updated_ |
| Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More... |
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| bool | source_cloud_updated_ |
| Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More... |
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| bool | force_no_recompute_ |
| A flag which, if set, means the tree operating on the target cloud will never be recomputed. More... |
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| bool | force_no_recompute_reciprocal_ |
| A flag which, if set, means the tree operating on the source cloud will never be recomputed. More... |
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| std::function< UpdateVisualizerCallbackSignature > | update_visualizer_ |
| Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointSource > |
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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 PointSource, typename PointTarget, typename NormalT = pcl::Normal, typename Scalar = float>
class pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >
KFPCSInitialAlignment computes corresponding four point congruent sets based on keypoints as described in: "Markerless point cloud registration with keypoint-based 4-points congruent sets", Pascal Theiler, Jan Dirk Wegner, Konrad Schindler.
ISPRS Annals II-5/W2, 2013. Presented at ISPRS Workshop Laser Scanning, Antalya, Turkey, 2013.
- Note
- Method has since been improved and some variations to the paper exist.
Definition at line 54 of file ia_kfpcs.h.
Constructor & Destructor Documentation
KFPCSInitialAlignment()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
| pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::KFPCSInitialAlignment |
Constructor.
Definition at line 47 of file ia_kfpcs.hpp.
References pcl::Registration< PointSource, PointTarget, float >::reg_name_.
~KFPCSInitialAlignment()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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overridedefault |
Destructor.
Member Function Documentation
finalCompute()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
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overrideprotectedvirtual |
Final computation of best match out of vector of matches.
To avoid cross thread dependencies during parallel running, a best match for each try was calculated.
- Note
- For forwards compatibility the candidates are stored in vectors of 'vectors of size 1'.
- Parameters
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[in] candidates vector of candidate matches
Reimplemented from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float >.
Definition at line 196 of file ia_kfpcs.hpp.
getLambda()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
- Returns
- the weighting factor of the translation cost term.
Definition at line 124 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::lambda_.
getLowerTranslationThreshold()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
- Returns
- the lower translation threshold used for score evaluation.
Definition at line 108 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::lower_trl_boundary_.
getNBestCandidates()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
| void pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::getNBestCandidates | ( | int | n, |
| float | min_angle3d, | ||
| float | min_translation3d, | ||
| MatchingCandidates & | candidates | ||
| ) |
Get the N best unique candidate matches according to their fitness score.
The method only returns unique transformations comparing the translation and the 3D rotation to already returned transformations.
- Note
- The method may return less than N candidates, if the number of unique candidates is smaller than N
- Parameters
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[in] n number of best candidates to return [in] min_angle3d minimum 3D angle difference in radian [in] min_translation3d minimum 3D translation difference [out] candidates vector of unique candidates
Definition at line 234 of file ia_kfpcs.hpp.
getTBestCandidates()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
| void pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::getTBestCandidates | ( | float | t, |
| float | min_angle3d, | ||
| float | min_translation3d, | ||
| MatchingCandidates & | candidates | ||
| ) |
Get all unique candidate matches with fitness scores above a threshold t.
The method only returns unique transformations comparing the translation and the 3D rotation to already returned transformations.
- Parameters
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[in] t fitness score threshold [in] min_angle3d minimum 3D angle difference in radian [in] min_translation3d minimum 3D translation difference [out] candidates vector of unique candidates
Definition at line 271 of file ia_kfpcs.hpp.
getUpperTranslationThreshold()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
- Returns
- the upper translation threshold used for score evaluation.
Definition at line 92 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::upper_trl_boundary_.
handleMatches()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
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overrideprotectedvirtual |
Method to handle current candidate matches.
Here we validate and evaluate the matches w.r.t the base and store the sorted matches (together with score values and estimated transformations).
- Parameters
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[in] base_indices indices of base B [in,out] matches vector of candidate matches w.r.t the base B. The candidate matches are reordered during this step. [out] candidates vector which contains the candidates matches M
Reimplemented from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float >.
Definition at line 109 of file ia_kfpcs.hpp.
initCompute()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
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overrideprotectedvirtual |
Internal computation initialization.
Reimplemented from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float >.
Definition at line 60 of file ia_kfpcs.hpp.
References pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute().
setLambda()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
Set the weighting factor of the translation cost term.
- Parameters
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[in] lambda the weighting factor of the translation cost term
Definition at line 117 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::lambda_.
setLowerTranslationThreshold()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
Set the lower translation threshold used for score evaluation.
- Parameters
-
[in] lower_trl_boundary lower translation threshold
Definition at line 101 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::lower_trl_boundary_.
setUpperTranslationThreshold()
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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inline |
Set the upper translation threshold used for score evaluation.
- Parameters
-
[in] upper_trl_boundary upper translation threshold
Definition at line 85 of file ia_kfpcs.h.
References pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::upper_trl_boundary_.
validateTransformation()
template<typename PointSource , typename PointTarget , typename NormalT , typename Scalar >
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overrideprotectedvirtual |
Validate the transformation by calculating the score value after transforming the input source cloud.
The resulting score is later used as the decision criteria of the best fitting match.
- Parameters
-
[out] transformation updated orientation matrix using all inliers [out] fitness_score current best score
- Note
- fitness score is only updated if the score of the current transformation exceeds the input one.
- Returns
-
- < 0 if previous result is better than the current one (score remains)
- = 0 current result is better than the previous one (score updated)
Reimplemented from pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float >.
Definition at line 145 of file ia_kfpcs.hpp.
References M_PI, M_PI_2, pcl::PointCloud< PointT >::size(), and pcl::transformPointCloud().
Member Data Documentation
candidates_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Container for resulting vector of registration candidates.
Definition at line 250 of file ia_kfpcs.h.
indices_validation_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Subset of input indices on which we evaluate candidates.
To speed up the evaluation, we only use a fix number of indices defined during initialization.
Definition at line 260 of file ia_kfpcs.h.
lambda_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Weighting factor for translation costs (standard = 0.5).
Definition at line 247 of file ia_kfpcs.h.
Referenced by pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::getLambda(), and pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::setLambda().
lower_trl_boundary_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Lower boundary for translation costs calculation.
- Note
- If not set by the user, the translation costs are not used during evaluation.
Definition at line 238 of file ia_kfpcs.h.
Referenced by pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::getLowerTranslationThreshold(), and pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::setLowerTranslationThreshold().
upper_trl_boundary_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Upper boundary for translation costs calculation.
- Note
- If not set by the user, it is calculated from the estimated overlap and the diameter of the point cloud.
Definition at line 244 of file ia_kfpcs.h.
Referenced by pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::getUpperTranslationThreshold(), and pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::setUpperTranslationThreshold().
use_trl_score_
template<typename PointSource , typename PointTarget , typename NormalT = pcl::Normal, typename Scalar = float>
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protected |
Flag if translation score should be used in validation (internal calculation).
Definition at line 254 of file ia_kfpcs.h.
The documentation for this class was generated from the following files:
- pcl/registration/ia_kfpcs.h
- pcl/registration/impl/ia_kfpcs.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_k_f_p_c_s_initial_alignment.html