Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::CorrespondenceGrouping< PointModelT, PointSceneT > Class Template Reference

Abstract base class for Correspondence Grouping algorithms. More...

#include <correspondence_grouping.h>

Inheritance diagram for pcl::CorrespondenceGrouping< PointModelT, PointSceneT >:
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List of all members.

Public Types

typedef pcl::PointCloud
< PointSceneT > 
SceneCloud
typedef SceneCloud::ConstPtr SceneCloudConstPtr
typedef SceneCloud::Ptr SceneCloudPtr

Public Member Functions

void cluster (std::vector< Correspondences > &clustered_corrs)
 Clusters the input correspondences belonging to different model instances.
 CorrespondenceGrouping ()
 Empty constructor.
std::vector< double > getCharacteristicScales () const
 Getter for the vector of characteristic scales associated to each cluster.
CorrespondencesConstPtr getModelSceneCorrespondences () const
 Getter for the precomputed correspondences between points in the input dataset and points in the scene dataset.
SceneCloudConstPtr getSceneCloud () const
 Getter for the scene dataset.
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. The correspondences are going to be clustered into different model hypotheses by the algorithm.
virtual void setSceneCloud (const SceneCloudConstPtr &scene)
 Provide a pointer to the scene dataset.
virtual ~CorrespondenceGrouping ()
 destructor.

Protected Member Functions

virtual void clusterCorrespondences (std::vector< Correspondences > &clustered_corrs)=0
 The actual clustering method, should be implemented by each subclass.
bool deinitCompute ()
 This method should get called after finishing the actual computation.
bool initCompute ()
 This method should get called before starting the actual computation.

Protected Attributes

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.
CorrespondencesConstPtr model_scene_corrs_
 The correspondences between points in the input and the scene datasets.
SceneCloudConstPtr scene_
 The scene cloud.

Detailed Description

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

Abstract base class for Correspondence Grouping algorithms.

Author:
Tommaso Cavallari, Federico Tombari, Aitor Aldoma

Definition at line 55 of file correspondence_grouping.h.


Member Typedef Documentation

template<typename PointModelT, typename PointSceneT>
typedef pcl::PointCloud<PointSceneT> pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloud

Definition at line 58 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
typedef SceneCloud::ConstPtr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudConstPtr
template<typename PointModelT, typename PointSceneT>
typedef SceneCloud::Ptr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::SceneCloudPtr

Definition at line 59 of file correspondence_grouping.h.


Constructor & Destructor Documentation

template<typename PointModelT, typename PointSceneT>
pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::CorrespondenceGrouping ( ) [inline]

Empty constructor.

Definition at line 63 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
virtual pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::~CorrespondenceGrouping ( ) [inline, virtual]

destructor.

Definition at line 66 of file correspondence_grouping.h.


Member Function Documentation

template<typename PointModelT , typename PointSceneT >
void pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::cluster ( std::vector< Correspondences > &  clustered_corrs)

Clusters the input correspondences belonging to different model instances.

Parameters:
[out]clustered_corrsa vector containing the correspondences for each instance of the model found within the input data.

Definition at line 44 of file correspondence_grouping.hpp.

template<typename PointModelT, typename PointSceneT>
virtual void pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::clusterCorrespondences ( std::vector< Correspondences > &  clustered_corrs) [protected, pure virtual]

The actual clustering method, should be implemented by each subclass.

Parameters:
[out]clustered_corrsa vector containing the correspondences for each instance of the model found within the input data.

Implemented in pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >, and pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >.

template<typename PointModelT, typename PointSceneT>
bool pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::deinitCompute ( ) [inline, protected]

This method should get called after finishing the actual computation.

Reimplemented from pcl::PCLBase< PointModelT >.

Definition at line 192 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
std::vector<double> pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::getCharacteristicScales ( ) const [inline]

Getter for the vector of characteristic scales associated to each cluster.

Returns:
the vector of characteristic scales (assuming scale = model / scene)

Definition at line 120 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
CorrespondencesConstPtr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::getModelSceneCorrespondences ( ) const [inline]

Getter for the precomputed correspondences between points in the input dataset and points in the scene dataset.

Returns:
the correspondences between the model and the scene.

Definition at line 110 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
SceneCloudConstPtr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::getSceneCloud ( ) const [inline]

Getter for the scene dataset.

Returns:
the const boost shared pointer to a PointCloud message.

Definition at line 87 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
bool pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::initCompute ( ) [inline, protected]

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

  • checks if an input dataset is given, and returns false otherwise
  • checks if a scene dataset is given, and returns false otherwise
  • checks if the model-scene correspondences have been given, and returns false otherwise

Reimplemented from pcl::PCLBase< PointModelT >.

Definition at line 160 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
virtual void pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::setModelSceneCorrespondences ( const CorrespondencesConstPtr corrs) [inline, virtual]

Provide a pointer to the precomputed correspondences between points in the input dataset and points in the scene dataset. The correspondences are going to be clustered into different model hypotheses by the algorithm.

Parameters:
[in]corrsthe correspondences between the model and the scene.

Reimplemented in pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >.

Definition at line 99 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
virtual void pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::setSceneCloud ( const SceneCloudConstPtr scene) [inline, virtual]

Provide a pointer to the scene dataset.

Parameters:
[in]scenethe const boost shared pointer to a PointCloud message.

Reimplemented in pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >.

Definition at line 77 of file correspondence_grouping.h.


Member Data Documentation

template<typename PointModelT, typename PointSceneT>
std::vector<double> pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::corr_group_scale_ [protected]

characteristic scale associated to each correspondence subset; if the cg algorithm can not handle scale invariance, the size of the vector will be 0.

Definition at line 143 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
CorrespondencesConstPtr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::model_scene_corrs_ [protected]

The correspondences between points in the input and the scene datasets.

Definition at line 139 of file correspondence_grouping.h.

template<typename PointModelT, typename PointSceneT>
SceneCloudConstPtr pcl::CorrespondenceGrouping< PointModelT, PointSceneT >::scene_ [protected]

The scene cloud.

Definition at line 134 of file correspondence_grouping.h.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:39:27