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. More...

#include <correspondence_rejection_poly.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorPoly >	ConstPtr
typedef pcl::PointCloud< SourceT >	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef pcl::PointCloud< TargetT >	PointCloudTarget
typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr
typedef PointCloudTarget::Ptr	PointCloudTargetPtr
typedef boost::shared_ptr < CorrespondenceRejectorPoly >	Ptr
Public Member Functions
	CorrespondenceRejectorPoly ()
	Empty constructor.
int	getCardinality ()
	Get the polygon cardinality.
int	getIterations ()
	Get the number of iterations.
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.
float	getSimilarityThreshold ()
	Get the similarity threshold between edge lengths.
void	setCardinality (int cardinality)
	Set the polygon cardinality.
void	setInputCloud (const PointCloudSourceConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void	setInputTarget (const PointCloudTargetConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void	setIterations (int iterations)
	Set the number of iterations.
void	setSimilarityThreshold (float similarity_threshold)
	Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match.
bool	thresholdPolygon (const pcl::Correspondences &corr, const std::vector< int > &idx)
	Polygonal rejection of a single polygon, indexed by a subset of correspondences.
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.
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
std::vector< int >	computeHistogram (const std::vector< float > &data, float lower, float upper, int bins)
	Compute a linear histogram. This function is equivalent to the MATLAB function histc, with the edges set as follows: lower:(upper-lower)/bins:upper
float	computeSquaredDistance (const SourceT &p1, const TargetT &p2)
	Squared Euclidean distance between two points using the members x, y and z.
int	findThresholdOtsu (const std::vector< int > &histogram)
	Find the optimal value for binary histogram thresholding using Otsu's method.
std::vector< int >	getUniqueRandomIndices (int n, int k)
	Get k unique random indices in range {0,...,n-1} (sampling without replacement)
bool	thresholdEdgeLength (int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)
	Edge length similarity thresholding.
Protected Attributes
int	cardinality_
	The polygon cardinality used during rejection.
PointCloudSourceConstPtr	input_
	The input point cloud dataset.
int	iterations_
	Number of iterations to run.
float	similarity_threshold_
	Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match.
float	similarity_threshold_squared_
	Squared value if similarity_threshold_, only for internal use.
PointCloudTargetConstPtr	target_
	The input point cloud dataset target.

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

Reimplemented from pcl::registration::CorrespondenceRejector.

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

Reimplemented from pcl::registration::CorrespondenceRejector.

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 ) [inline, protected, virtual]

Apply the rejection algorithm.

Parameters:

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 237 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:

data	input samples
lower	lower bound of input samples
upper	upper bound of input samples
bins	number 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
	)		`[inline, protected]`

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

Parameters:

p1	first point
p2	second point

Returns:: squared Euclidean distance

Definition at line 282 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:

histogram input 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 142 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 180 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_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the 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 162 of file correspondence_rejection_poly.h.

template<typename SourceT, typename TargetT>

std::vector<int> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getUniqueRandomIndices	(	int	n,
		int	k
	)		`[inline, protected]`

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

Note:: No check is made to ensure that k <= n.

Parameters:

n	upper index range, exclusive
k	number of unique indices to sample

Returns:: k unique random indices in range {0,...,n-1}

Definition at line 249 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:

cardinality polygon cardinality

Definition at line 133 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] cloud a 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] cloud a 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] target a 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:

iterations number of iterations

Definition at line 171 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 similarity threshold

Definition at line 152 of file correspondence_rejection_poly.h.

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
	)		`[inline, protected]`

Edge length similarity thresholding.

Parameters:

index_query_1	index of first source vertex
index_query_2	index of second source vertex
index_match_1	index of first target vertex
index_match_2	index of second target vertex
simsq	squared similarity threshold in [0,1]

Returns:: true if edge length ratio is larger than or equal to threshold

Definition at line 300 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:

corr	all correspondences into input_ and target_
idx	sampled 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 191 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_indices	indices of polygon points in input_, must have a size equal to cardinality_
target_indices	corresponding 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 217 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 344 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 335 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 341 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 347 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 350 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 338 of file correspondence_rejection_poly.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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