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/PointCloudLibrary

Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences. More...

#include <pcl/recognition/cg/geometric_consistency.h>

Public Types

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 >
using SceneCloud = pcl::PointCloud< PointSceneT >
using SceneCloudPtr = typename SceneCloud::Ptr
using SceneCloudConstPtr = typename SceneCloud::ConstPtr
- Public Types inherited from pcl::PCLBase< PointModelT >
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

GeometricConsistencyGrouping ()
Constructor. More...
void setGCThreshold (int threshold)
Sets the minimum cluster size. More...
int getGCThreshold () const
Gets the minimum cluster size. More...
void setGCSize (double gc_size)
Sets the consensus set resolution. More...
double getGCSize () const
Gets the consensus set resolution. More...
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...
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...
- Public Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
CorrespondenceGrouping ()
Empty constructor. More...
~CorrespondenceGrouping ()
destructor. More...
virtual void setSceneCloud (const SceneCloudConstPtr &scene)
Provide a pointer to the scene dataset. More...
SceneCloudConstPtr getSceneCloud () const
Getter for the scene dataset. More...
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...
CorrespondencesConstPtr getModelSceneCorrespondences () const
Getter for the precomputed correspondences between points in the input dataset and points in the scene dataset. More...
std::vector< double > getCharacteristicScales () const
Getter for the vector of characteristic scales associated to each cluster. More...
void cluster (std::vector< Correspondences > &clustered_corrs)
Clusters the input correspondences belonging to different model instances. More...
- Public Member Functions inherited from pcl::PCLBase< PointModelT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
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...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointModelT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions

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...
- Protected Member Functions inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...
- Protected Member Functions inherited from pcl::PCLBase< PointModelT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Protected Attributes

int gc_threshold_
Minimum cluster size. More...
double gc_size_
Resolution of the consensus set used to cluster correspondences together. More...
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > found_transformations_
Transformations found by clusterCorrespondences method. More...
- Protected Attributes inherited from pcl::CorrespondenceGrouping< PointModelT, PointSceneT >
SceneCloudConstPtr scene_
The scene cloud. More...
CorrespondencesConstPtr model_scene_corrs_
The correspondences between points in the input and the scene datasets. More...
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...
- Protected Attributes inherited from pcl::PCLBase< PointModelT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointModelT, typename PointSceneT>
class pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >

Class implementing a 3D correspondence grouping enforcing geometric consistency among feature correspondences.

Author
Federico Tombari, Tommaso Cavallari, Aitor Aldoma

Definition at line 54 of file geometric_consistency.h.

Member Typedef Documentation

PointCloud

template<typename PointModelT , typename PointSceneT >
using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloud = pcl::PointCloud<PointModelT>

Definition at line 57 of file geometric_consistency.h.

PointCloudConstPtr

template<typename PointModelT , typename PointSceneT >
using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 59 of file geometric_consistency.h.

PointCloudPtr

template<typename PointModelT , typename PointSceneT >
using pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 58 of file geometric_consistency.h.

SceneCloudConstPtr

template<typename PointModelT , typename PointSceneT >
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()

template<typename PointModelT , typename PointSceneT >
pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::GeometricConsistencyGrouping ( )
inline

Constructor.

Definition at line 64 of file geometric_consistency.h.

Member Function Documentation

clusterCorrespondences()

template<typename PointModelT , typename PointSceneT >
void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences ( std::vector< Correspondences > & model_instances )
overrideprotectedvirtual

getGCSize()

template<typename PointModelT , typename PointSceneT >
double pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCSize ( ) const
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()

template<typename PointModelT , typename PointSceneT >
int pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::getGCThreshold ( ) const
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]

template<typename PointModelT , typename PointSceneT >
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
[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]

template<typename PointModelT , typename PointSceneT >
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()

template<typename PointModelT , typename PointSceneT >
void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCSize ( double gc_size )
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()

template<typename PointModelT , typename PointSceneT >
void pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::setGCThreshold ( int threshold )
inline

Sets the minimum cluster size.

Parameters
[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_

template<typename PointModelT , typename PointSceneT >
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::found_transformations_
protected

Transformations found by clusterCorrespondences method.

Definition at line 140 of file geometric_consistency.h.

gc_size_

template<typename PointModelT , typename PointSceneT >
double pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_size_
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_

template<typename PointModelT , typename PointSceneT >
int pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_threshold_
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:

© 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