Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions
pcl::PPFRegistration< PointSource, PointTarget > Class Template Reference

Class that registers two point clouds based on their sets of PPFSignatures. More...

#include <pcl/registration/ppf_registration.h>

+ Inheritance diagram for pcl::PPFRegistration< PointSource, PointTarget >:

List of all members.

Classes

struct  PoseWithVotes
 Structure for storing a pose (represented as an Eigen::Affine3f) and an integer for counting votes. More...

Public Types

typedef std::vector
< PoseWithVotes,
Eigen::aligned_allocator
< PoseWithVotes > > 
PoseWithVotesList
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
typedef PointCloudSource::Ptr PointCloudSourcePtr
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
typedef PointCloudTarget::Ptr PointCloudTargetPtr
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr

Public Member Functions

 PPFRegistration ()
 Empty constructor that initializes all the parameters of the algorithm with default values.
void setPositionClusteringThreshold (float clustering_position_diff_threshold)
 Method for setting the position difference clustering parameter.
float getPositionClusteringThreshold ()
 Returns the parameter defining the position difference clustering parameter - distance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm)
void setRotationClusteringThreshold (float clustering_rotation_diff_threshold)
 Method for setting the rotation clustering parameter.
float getRotationClusteringThreshold ()
 Returns the parameter defining the rotation clustering threshold.
void setSceneReferencePointSamplingRate (unsigned int scene_reference_point_sampling_rate)
 Method for setting the scene reference point sampling rate.
unsigned int getSceneReferencePointSamplingRate ()
 Returns the parameter for the scene reference point sampling rate of the algorithm.
void setSearchMethod (PPFHashMapSearch::Ptr search_method)
 Function that sets the search method for the algorithm.
PPFHashMapSearch::Ptr getSearchMethod ()
 Getter function for the search method of the class.
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)

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::PPFRegistration< PointSource, PointTarget >

Class that registers two point clouds based on their sets of PPFSignatures.

Please refer to the following publication for more details: B. Drost, M. Ulrich, N. Navab, S. Ilic Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 13-18 June 2010, San Francisco, CA

Note:
This class works in tandem with the PPFEstimation class
Author:
Alexandru-Eugen Ichim

Definition at line 144 of file ppf_registration.h.


Member Typedef Documentation

template<typename PointSource, typename PointTarget>
typedef pcl::PointCloud<PointSource> pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSource

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 171 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudSource::ConstPtr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSourceConstPtr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 173 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudSource::Ptr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudSourcePtr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 172 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef pcl::PointCloud<PointTarget> pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTarget

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 175 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudTarget::ConstPtr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTargetConstPtr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 177 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudTarget::Ptr pcl::PPFRegistration< PointSource, PointTarget >::PointCloudTargetPtr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 176 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
typedef std::vector<PoseWithVotes, Eigen::aligned_allocator<PoseWithVotes> > pcl::PPFRegistration< PointSource, PointTarget >::PoseWithVotesList

Definition at line 161 of file ppf_registration.h.


Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>
pcl::PPFRegistration< PointSource, PointTarget >::PPFRegistration ( ) [inline]

Empty constructor that initializes all the parameters of the algorithm with default values.

Definition at line 181 of file ppf_registration.h.


Member Function Documentation

template<typename PointSource, typename PointTarget>
float pcl::PPFRegistration< PointSource, PointTarget >::getPositionClusteringThreshold ( ) [inline]

Returns the parameter defining the position difference clustering parameter - distance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm)

Definition at line 201 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
float pcl::PPFRegistration< PointSource, PointTarget >::getRotationClusteringThreshold ( ) [inline]

Returns the parameter defining the rotation clustering threshold.

Definition at line 213 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
unsigned int pcl::PPFRegistration< PointSource, PointTarget >::getSceneReferencePointSamplingRate ( ) [inline]

Returns the parameter for the scene reference point sampling rate of the algorithm.

Definition at line 223 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
PPFHashMapSearch::Ptr pcl::PPFRegistration< PointSource, PointTarget >::getSearchMethod ( ) [inline]

Getter function for the search method of the class.

Definition at line 235 of file ppf_registration.h.

template<typename PointSource , typename PointTarget >
void pcl::PPFRegistration< PointSource, PointTarget >::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)

Parameters:
cloudthe input point cloud target

Definition at line 109 of file ppf_registration.hpp.

References pcl::Registration< PointSource, PointTarget, Scalar >::setInputTarget().

template<typename PointSource, typename PointTarget>
void pcl::PPFRegistration< PointSource, PointTarget >::setPositionClusteringThreshold ( float  clustering_position_diff_threshold) [inline]

Method for setting the position difference clustering parameter.

Parameters:
clustering_position_diff_thresholddistance threshold below which two poses are considered close enough to be in the same cluster (for the clustering phase of the algorithm)

Definition at line 194 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
void pcl::PPFRegistration< PointSource, PointTarget >::setRotationClusteringThreshold ( float  clustering_rotation_diff_threshold) [inline]

Method for setting the rotation clustering parameter.

Parameters:
clustering_rotation_diff_thresholdrotation difference threshold below which two poses are considered to be in the same cluster (for the clustering phase of the algorithm)

Definition at line 208 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
void pcl::PPFRegistration< PointSource, PointTarget >::setSceneReferencePointSamplingRate ( unsigned int  scene_reference_point_sampling_rate) [inline]

Method for setting the scene reference point sampling rate.

Parameters:
scene_reference_point_sampling_ratesampling rate for the scene reference point

Definition at line 219 of file ppf_registration.h.

template<typename PointSource, typename PointTarget>
void pcl::PPFRegistration< PointSource, PointTarget >::setSearchMethod ( PPFHashMapSearch::Ptr  search_method) [inline]

Function that sets the search method for the algorithm.

Note:
Right now, the only available method is the one initially proposed by the authors - by using a hash map with discretized feature vectors
Parameters:
search_methodsmart pointer to the search method to be set

Definition at line 231 of file ppf_registration.h.


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