Point Cloud Library (PCL)
1.11.1
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43 #include <pcl/registration/registration.h>
44 #include <pcl/features/ppf.h>
46 #include <unordered_map>
58 struct HashKeyStruct :
public std::pair <int, std::pair <int, std::pair <int, int> > >
65 this->second.first = b;
66 this->second.second.first = c;
67 this->second.second.second = d;
72 const std::size_t h1 = std::hash<int>{} (s.first);
73 const std::size_t h2 = std::hash<int>{} (s.second.first);
74 const std::size_t h3 = std::hash<int>{} (s.second.second.first);
75 const std::size_t h4 = std::hash<int>{} (s.second.second.second);
76 return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
81 using Ptr = shared_ptr<PPFHashMapSearch>;
82 using ConstPtr = shared_ptr<const PPFHashMapSearch>;
90 float distance_discretization_step = 0.01f)
92 , internals_initialized_ (false)
93 , angle_discretization_step_ (angle_discretization_step)
94 , distance_discretization_step_ (distance_discretization_step)
115 std::vector<std::pair<std::size_t, std::size_t> > &indices);
136 bool internals_initialized_;
138 float angle_discretization_step_, distance_discretization_step_;
153 template <
typename Po
intSource,
typename Po
intTarget>
193 scene_reference_point_sampling_rate_ (5),
194 clustering_position_diff_threshold_ (0.01f),
195 clustering_rotation_diff_threshold_ (20.0f / 180.0f * static_cast<float> (
M_PI))
256 computeTransformation (
PointCloudSource &output,
const Eigen::Matrix4f& guess)
override;
263 unsigned int scene_reference_point_sampling_rate_;
267 float clustering_position_diff_threshold_, clustering_rotation_diff_threshold_;
275 poseWithVotesCompareFunction (
const PoseWithVotes &a,
276 const PoseWithVotes &b);
281 clusterVotesCompareFunction (
const std::pair<std::size_t, unsigned int> &a,
282 const std::pair<std::size_t, unsigned int> &b);
293 posesWithinErrorBounds (Eigen::Affine3f &pose1,
294 Eigen::Affine3f &pose2);
298 #include <pcl/registration/impl/ppf_registration.hpp>
Registration represents the base registration class for general purpose, ICP-like methods.
void setInputTarget(const PointCloudTargetConstPtr &cloud) override
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...
Ptr makeShared()
Convenience method for returning a copy of the class instance as a shared_ptr.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
PPFHashMapSearch::Ptr getSearchMethod()
Getter function for the search method of the class.
HashKeyStruct(int a, int b, int c, int d)
void setInputFeatureCloud(PointCloud< PPFSignature >::ConstPtr feature_cloud)
Method that sets the feature cloud to be inserted in the hash map.
void setRotationClusteringThreshold(float clustering_rotation_diff_threshold)
Method for setting the rotation clustering parameter.
shared_ptr< PPFHashMapSearch > Ptr
std::vector< std::vector< float > > alpha_m_
float getRotationClusteringThreshold()
Returns the parameter defining the rotation clustering threshold.
float getModelDiameter() const
Returns the maximum distance found between any feature pair in the given input feature cloud.
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
void setSearchMethod(PPFHashMapSearch::Ptr search_method)
Function that sets the search method for the algorithm.
std::size_t operator()(const HashKeyStruct &s) const noexcept
unsigned int getSceneReferencePointSamplingRate()
Returns the parameter for the scene reference point sampling rate of the algorithm.
void nearestNeighborSearch(float &f1, float &f2, float &f3, float &f4, std::vector< std::pair< std::size_t, std::size_t > > &indices)
Function for finding the nearest neighbors for the given feature inside the discretized hash map.
std::unordered_multimap< HashKeyStruct, std::pair< std::size_t, std::size_t >, HashKeyStruct > FeatureHashMapType
std::vector< PoseWithVotes, Eigen::aligned_allocator< PoseWithVotes > > PoseWithVotesList
shared_ptr< FeatureHashMapType > FeatureHashMapTypePtr
Data structure to hold the information for the key in the feature hash map of the PPFHashMapSearch cl...
PPFHashMapSearch(float angle_discretization_step=12.0f/180.0f *static_cast< float >(M_PI), float distance_discretization_step=0.01f)
Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data s...
typename PointCloudSource::Ptr PointCloudSourcePtr
float getAngleDiscretizationStep() const
Returns the angle discretization step parameter (the step value between each bin of the hash map for ...
Structure for storing a pose (represented as an Eigen::Affine3f) and an integer for counting votes.
pcl::PointCloud< PointSource > PointCloudSource
PPFRegistration()
Empty constructor that initializes all the parameters of the algorithm with default values.
void setSceneReferencePointSamplingRate(unsigned int scene_reference_point_sampling_rate)
Method for setting the scene reference point sampling rate.
shared_ptr< PointCloud< PointSource > > Ptr
shared_ptr< const PPFHashMapSearch > ConstPtr
float getDistanceDiscretizationStep() const
Returns the distance discretization step parameter (the step value between each bin of the hash map f...
Class that registers two point clouds based on their sets of PPFSignatures.
shared_ptr< const PointCloud< PointT > > ConstPtr
PoseWithVotes(Eigen::Affine3f &a_pose, unsigned int &a_votes)
float getPositionClusteringThreshold()
Returns the parameter defining the position difference clustering parameter - distance threshold belo...
void setPositionClusteringThreshold(float clustering_position_diff_threshold)
Method for setting the position difference clustering parameter.
typename PointCloudTarget::Ptr PointCloudTargetPtr
shared_ptr< KdTreeFLANN< PointT, Dist > > Ptr