Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT > Class Template Reference

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>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >:

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 Types inherited from pcl::registration::CorrespondenceRejector
typedef boost::shared_ptr
< CorrespondenceRejector
Ptr
 
typedef boost::shared_ptr
< const CorrespondenceRejector
ConstPtr
 

Public Member Functions

 CorrespondenceRejectorPoly ()
 Empty constructor. More...
 
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. More...
 
void setInputSource (const PointCloudSourceConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
void setInputCloud (const PointCloudSourceConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
void setInputTarget (const PointCloudTargetConstPtr &target)
 Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
bool requiresSourcePoints () const
 See if this rejector requires source points. More...
 
void setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Blob method for setting the source cloud. More...
 
bool requiresTargetPoints () const
 See if this rejector requires a target cloud. More...
 
void setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Method for setting the target cloud. More...
 
void setCardinality (int cardinality)
 Set the polygon cardinality. More...
 
int getCardinality ()
 Get the polygon cardinality. More...
 
void setSimilarityThreshold (float similarity_threshold)
 Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match. More...
 
float getSimilarityThreshold ()
 Get the similarity threshold between edge lengths. More...
 
void setIterations (int iterations)
 Set the number of iterations. More...
 
int getIterations ()
 Get the number of iterations. More...
 
bool thresholdPolygon (const pcl::Correspondences &corr, const std::vector< int > &idx)
 Polygonal rejection of a single polygon, indexed by a subset of correspondences. More...
 
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. More...
 
- Public Member Functions inherited from pcl::registration::CorrespondenceRejector
 CorrespondenceRejector ()
 Empty constructor. More...
 
virtual ~CorrespondenceRejector ()
 Empty destructor. More...
 
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences. More...
 
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences. More...
 
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection. More...
 
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
 Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool requiresSourceNormals () const
 See if this rejector requires source normals. More...
 
virtual void setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source normals. More...
 
virtual bool requiresTargetNormals () const
 See if this rejector requires target normals. More...
 
virtual void setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target normals. More...
 

Protected Member Functions

void applyRejection (pcl::Correspondences &correspondences)
 Apply the rejection algorithm. More...
 
std::vector< int > getUniqueRandomIndices (int n, int k)
 Get k unique random indices in range {0,...,n-1} (sampling without replacement) More...
 
float computeSquaredDistance (const SourceT &p1, const TargetT &p2)
 Squared Euclidean distance between two points using the members x, y and z. More...
 
bool thresholdEdgeLength (int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)
 Edge length similarity thresholding. More...
 
std::vector< int > computeHistogram (const std::vector< float > &data, float lower, float upper, int bins)
 Compute a linear histogram. More...
 
int findThresholdOtsu (const std::vector< int > &histogram)
 Find the optimal value for binary histogram thresholding using Otsu's method. More...
 

Protected Attributes

PointCloudSourceConstPtr input_
 The input point cloud dataset. More...
 
PointCloudTargetConstPtr target_
 The input point cloud dataset target. More...
 
int iterations_
 Number of iterations to run. More...
 
int cardinality_
 The polygon cardinality used during rejection. More...
 
float similarity_threshold_
 Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match. More...
 
float similarity_threshold_squared_
 Squared value if similarity_threshold_, only for internal use. More...
 
- Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string rejection_name_
 The name of the rejection method. More...
 
CorrespondencesConstPtr input_correspondences_
 The input correspondences. More...
 

Detailed Description

template<typename SourceT, typename TargetT>
class pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >

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.

Author
Anders Glent Buch

Definition at line 64 of file correspondence_rejection_poly.h.

Member Typedef Documentation

template<typename SourceT , typename TargetT >
typedef boost::shared_ptr<const CorrespondenceRejectorPoly> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::ConstPtr

Definition at line 72 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef pcl::PointCloud<SourceT> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSource

Definition at line 74 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef PointCloudSource::ConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourceConstPtr

Definition at line 76 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef PointCloudSource::Ptr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourcePtr

Definition at line 75 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef pcl::PointCloud<TargetT> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTarget

Definition at line 78 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef PointCloudTarget::ConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetConstPtr

Definition at line 80 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef PointCloudTarget::Ptr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetPtr

Definition at line 79 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
typedef boost::shared_ptr<CorrespondenceRejectorPoly> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::Ptr

Definition at line 71 of file correspondence_rejection_poly.h.

Constructor & Destructor Documentation

template<typename SourceT , typename TargetT >
pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::CorrespondenceRejectorPoly ( )
inline

Empty constructor.

Definition at line 83 of file correspondence_rejection_poly.h.

Member Function Documentation

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::applyRejection ( pcl::Correspondences correspondences)
inlineprotectedvirtual

Apply the rejection algorithm.

Parameters
[out]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 265 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
std::vector< int > pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeHistogram ( const std::vector< float > &  data,
float  lower,
float  upper,
int  bins 
)
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

Parameters
datainput samples
lowerlower bound of input samples
upperupper bound of input samples
binsnumber of bins in output
Returns
linear histogram

Definition at line 154 of file correspondence_rejection_poly.hpp.

template<typename SourceT , typename TargetT >
float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeSquaredDistance ( const SourceT &  p1,
const TargetT &  p2 
)
inlineprotected

Squared Euclidean distance between two points using the members x, y and z.

Parameters
p1first point
p2second point
Returns
squared Euclidean distance

Definition at line 310 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::findThresholdOtsu ( const std::vector< int > &  histogram)
protected

Find the optimal value for binary histogram thresholding using Otsu's method.

Parameters
histograminput histogram
Returns
threshold value according to Otsu's criterion

Definition at line 173 of file correspondence_rejection_poly.hpp.

template<typename SourceT , typename TargetT >
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getCardinality ( )
inline

Get the polygon cardinality.

Returns
polygon cardinality

Definition at line 170 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getIterations ( )
inline

Get the number of iterations.

Returns
number of iterations

Definition at line 208 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
)
virtual

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters
[in]original_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_poly.hpp.

template<typename SourceT , typename TargetT >
float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getSimilarityThreshold ( )
inline

Get the similarity threshold between edge lengths.

Returns
similarity threshold

Definition at line 190 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
std::vector<int> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getUniqueRandomIndices ( int  n,
int  k 
)
inlineprotected

Get k unique random indices in range {0,...,n-1} (sampling without replacement)

Note
No check is made to ensure that k <= n.
Parameters
nupper index range, exclusive
knumber of unique indices to sample
Returns
k unique random indices in range {0,...,n-1}

Definition at line 277 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::requiresSourcePoints ( ) const
inlinevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 131 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::requiresTargetPoints ( ) const
inlinevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 145 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setCardinality ( int  cardinality)
inline

Set the polygon cardinality.

Parameters
cardinalitypolygon cardinality

Definition at line 161 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
[in]clouda cloud containing XYZ data

Definition at line 113 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
[in]clouda cloud containing XYZ data

Definition at line 104 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
[in]targeta cloud containing XYZ data

Definition at line 124 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setIterations ( int  iterations)
inline

Set the number of iterations.

Parameters
iterationsnumber of iterations

Definition at line 199 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
similarity_thresholdsimilarity threshold

Definition at line 180 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr  cloud2)
inlinevirtual

Blob method for setting the source cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 136 of file correspondence_rejection_poly.h.

References pcl::fromPCLPointCloud2().

template<typename SourceT , typename TargetT >
void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr  cloud2)
inlinevirtual

Method for setting the target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 150 of file correspondence_rejection_poly.h.

References pcl::fromPCLPointCloud2().

template<typename SourceT , typename TargetT >
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 
)
inlineprotected

Edge length similarity thresholding.

Parameters
index_query_1index of first source vertex
index_query_2index of second source vertex
index_match_1index of first target vertex
index_match_2index of second target vertex
simsqsquared similarity threshold in [0,1]
Returns
true if edge length ratio is larger than or equal to threshold

Definition at line 328 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
corrall correspondences into input_ and target_
idxsampled indices into correspondences, must have a size equal to cardinality_
Returns
true if all edge length ratios are larger than or equal to similarity_threshold_

Definition at line 219 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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.

Parameters
source_indicesindices of polygon points in input_, must have a size equal to cardinality_
target_indicescorresponding indices of polygon points in target_, must have a size equal to cardinality_
Returns
true if all edge length ratios are larger than or equal to similarity_threshold_

Definition at line 245 of file correspondence_rejection_poly.h.

Member Data Documentation

template<typename SourceT , typename TargetT >
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::cardinality_
protected

The polygon cardinality used during rejection.

Definition at line 372 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
PointCloudSourceConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::input_
protected

The input point cloud dataset.

Definition at line 363 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::iterations_
protected

Number of iterations to run.

Definition at line 369 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
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 375 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_squared_
protected

Squared value if similarity_threshold_, only for internal use.

Definition at line 378 of file correspondence_rejection_poly.h.

template<typename SourceT , typename TargetT >
PointCloudTargetConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::target_
protected

The input point cloud dataset target.

Definition at line 366 of file correspondence_rejection_poly.h.


The documentation for this class was generated from the following files: