InitialAlignment Class Reference

#include <InitialAlignment.h>

Public Member Functions
void	applyTFtoCloud (PointCloudRGB::Ptr cloud)
	Once initial alignment is finished, apply rigid transformation to given cloud. More...
void	applyTFtoCloud (PointCloudRGB::Ptr cloud, Eigen::Matrix4f tf)
	Apply given tf to cloud. More...
void	getAlignedCloud (PointCloudRGB::Ptr aligned_cloud)
	Get the aligned cloud object. More...
void	getAlignedCloudROSMsg (sensor_msgs::PointCloud2 &aligned_cloud_msg)
	Get the aligned cloud msg in PointCloud2 format. More...
Eigen::Matrix4f	getRigidTransform ()
	Get the rigid transform object. More...
	InitialAlignment (PointCloudRGB::Ptr target_cloud, PointCloudRGB::Ptr source_cloud)
	Construct a new Initial Alignment object. More...
void	run ()
	Perform initial alignment. More...
void	setMethod (AlignmentMethod method)
	Set the AlignmentMethod object. More...
void	setRadiusFactor (double align_factor)
	Set the Radius Factor object. More...
	~InitialAlignment ()
	Destroy the Initial Alignment object. More...

Public Attributes
bool	transform_exists_
	If true, rigid transformation is complete. More...

Private Types
typedef pcl::PointCloud< pcl::FPFHSignature33 >	PointCloudFPFH
typedef pcl::PointCloud< pcl::Normal >	PointCloudNormal
typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudRGB
typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudXYZ

Private Member Functions
void	applyTFtoCloud ()
	Once initial alignment is finished, apply rigid transformation to source cloud. More...
void	estimateTransform ()
	Get transform from computed correspondences. More...
bool	findIdx (Eigen::MatrixXd source_m, Eigen::MatrixXd target_m, Eigen::MatrixXi source_idx_m, Eigen::MatrixXi target_idx_m, std::vector< int > &source_indx, std::vector< int > &target_indx)
	Function to get index for Source matrix value in Target matrix. More...
Eigen::Matrix3f	getCoordinateSystem (PointCloudNormal::Ptr normals, std::vector< int > &index)
	Create coordinate system from corresponden normals. More...
void	getTransformationFromNormals (PointCloudNormal::Ptr source_normals, PointCloudNormal::Ptr target_normals)
	Get transformation between cloud based on normals correspondences. More...
void	matrixFromAngles (PointCloudNormal::Ptr normal, size_t size, Eigen::MatrixXd &matrix, Eigen::MatrixXi &index_matrix)
	Construct matrix based on angles between normals. More...
Eigen::VectorXd	nextVector (Eigen::MatrixXd matrix, int current_col, int current_row)
	Get next matrix vector with extracted current col and row. More...
bool	normalsCorrespondences (PointCloudNormal::Ptr source_dominant_normal, PointCloudNormal::Ptr target_dominant_normal, std::vector< int > &source_idx, std::vector< int > &target_idx)
	Found correspondences between dominant normals. More...
int	obtainBoundaryKeypoints (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, PointCloudRGB::Ptr keypoints_cloud, pcl::IndicesPtr keypoints_indices, pcl::IndicesPtr non_keypoints_indices)
	Obtain cloud keypoints based on boundary method. More...
void	obtainCorrespondences ()
	Get correspondences between clouds from computed features. More...
void	obtainDominantNormals (PointCloudNormal::Ptr normals, std::vector< pcl::PointIndices > cluster_indices, PointCloudNormal::Ptr dominant_normals)
	Obtain dominant normal in given cluster. More...
int	obtainFeatures (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, pcl::IndicesPtr keypoints_indices, PointCloudFPFH::Ptr features)
	Obtain cloud features based on given keypoints. More...
int	obtainHarrisKeypoints (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, PointCloudRGB::Ptr keypoints_cloud, pcl::IndicesPtr keypoints_indices)
	Obtain cloud keypoints based on harris method. More...
int	obtainKeypointsAndFeatures (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, PointCloudRGB::Ptr keypoints_cloud, PointCloudFPFH::Ptr features_cloud)
	Obtain keypoints and features based on set method. More...
int	obtainMultiScaleKeypointsAndFeatures (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, PointCloudRGB::Ptr keypoints_cloud, pcl::IndicesPtr keypoints_indices, PointCloudFPFH::Ptr features)
	Obtain cloud keypoints based on multiscale method. More...
void	obtainNormalsCluster (PointCloudRGB::Ptr cloud, PointCloudNormal::Ptr normals, std::vector< pcl::PointIndices > &cluster_indices)
	Cluster clouds normals. More...
void	rejectCorrespondences ()
	Reject computed correspondences. More...
void	rejectOneToOneCorrespondences ()
	Reject computed correspondences. More...
void	runKeypointsBasedAlgorithm ()
	Run keypoints based algorithm. Compute keypoints and features, found correspondences and get transform. More...
void	runNormalsBasedAlgorithm ()
	If set method is NORMALS run algorithm. Cluster normals and found correspondences between dominant normals. Get transform between clouds. More...

Private Attributes
PointCloudRGB::Ptr	aligned_cloud_
	Source pointcloud aligned with target cloud. More...
pcl::CorrespondencesPtr	correspondences_
	Correspondences between source and target. More...
AlignmentMethod	method_
	The alignment method. More...
double	normal_radius_
	Radius to compute normals. More...
double	radius_factor_
	Factor to apply to radius for computations. More...
Eigen::Matrix4f	rigid_tf_
	Transformation matrix as result of initial alignment. More...
Eigen::Vector4f	source_centroid_
	Source centroid computed. More...
PointCloudRGB::Ptr	source_cloud_
	Source pointcloud. More...
PointCloudNormal::Ptr	source_dominant_normals_
	Source dominant normals. Just used int NORMALS method. More...
PointCloudFPFH::Ptr	source_features_
	Source features. More...
PointCloudRGB::Ptr	source_keypoints_
	Source keypoints. More...
PointCloudNormal::Ptr	source_normals_
	Source normals. More...
Eigen::Vector4f	target_centroid_
	Target centroid computed. More...
PointCloudRGB::Ptr	target_cloud_
	Target pointcloud. More...
PointCloudNormal::Ptr	target_dominant_normals_
	Target dominant normals. Just used int NORMALS method. More...
PointCloudFPFH::Ptr	target_features_
	Target features. More...
PointCloudRGB::Ptr	target_keypoints_
	Target keypoints. More...
PointCloudNormal::Ptr	target_normals_
	Target normals. More...

Detailed Description

Definition at line 60 of file InitialAlignment.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::FPFHSignature33> InitialAlignment::PointCloudFPFH

private

Definition at line 65 of file InitialAlignment.h.

typedef pcl::PointCloud<pcl::Normal> InitialAlignment::PointCloudNormal

private

Definition at line 64 of file InitialAlignment.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> InitialAlignment::PointCloudRGB

private

Definition at line 63 of file InitialAlignment.h.

typedef pcl::PointCloud<pcl::PointXYZ> InitialAlignment::PointCloudXYZ

private

Definition at line 62 of file InitialAlignment.h.

Constructor & Destructor Documentation

InitialAlignment::InitialAlignment	(	PointCloudRGB::Ptr	target_cloud,
		PointCloudRGB::Ptr	source_cloud
	)

Construct a new Initial Alignment object.

Parameters

[in]	target_cloud
[in]	source_cloud

Definition at line 32 of file InitialAlignment.cpp.

InitialAlignment::~InitialAlignment ( )

inline

Destroy the Initial Alignment object.

Definition at line 80 of file InitialAlignment.h.

Member Function Documentation

void InitialAlignment::applyTFtoCloud

(

PointCloudRGB::Ptr

cloud

)

Once initial alignment is finished, apply rigid transformation to given cloud.

Parameters

[out]

cloud

Definition at line 552 of file InitialAlignment.cpp.

void InitialAlignment::applyTFtoCloud	(	PointCloudRGB::Ptr	cloud,
		Eigen::Matrix4f	tf
	)

Apply given tf to cloud.

Parameters

[out]	cloud
[in]	tf

Definition at line 557 of file InitialAlignment.cpp.

void InitialAlignment::applyTFtoCloud ( )

private

Once initial alignment is finished, apply rigid transformation to source cloud.

Definition at line 547 of file InitialAlignment.cpp.

void InitialAlignment::estimateTransform ( )

private

Get transform from computed correspondences.

Definition at line 540 of file InitialAlignment.cpp.

bool InitialAlignment::findIdx ( Eigen::MatrixXd  source_m, Eigen::MatrixXd  target_m, Eigen::MatrixXi  source_idx_m, Eigen::MatrixXi  target_idx_m, std::vector< int > &  source_indx, std::vector< int > &  target_indx  )

private

Function to get index for Source matrix value in Target matrix.

Parameters

[in]	source_m	source matrix form by angle between normals
[in]	target_m	target matrix form by angle between normals
[in]	source_idx_m	source matrix form by index of source_m
[in]	target_idx_m	target matrix form by index of target_m
[out]	source_indx	source indexes that correspond with target indexes
[out]	target_indx	source indexes that correspond with target indexes

Returns

true

false

Definition at line 233 of file InitialAlignment.cpp.

void InitialAlignment::getAlignedCloud

(

PointCloudRGB::Ptr

aligned_cloud

)

Get the aligned cloud object.

Parameters

[out]

aligned_cloud

Definition at line 562 of file InitialAlignment.cpp.

void InitialAlignment::getAlignedCloudROSMsg

(

sensor_msgs::PointCloud2 &

aligned_cloud_msg

)

Get the aligned cloud msg in PointCloud2 format.

Parameters

[out]

aligned_cloud_msg

Definition at line 567 of file InitialAlignment.cpp.

Eigen::Matrix3f InitialAlignment::getCoordinateSystem ( PointCloudNormal::Ptr  normals, std::vector< int > &  index  )

private

Create coordinate system from corresponden normals.

Parameters

normals
index

Returns

Eigen::Matrix3f

Definition at line 327 of file InitialAlignment.cpp.

Eigen::Matrix4f InitialAlignment::getRigidTransform

(

)

Get the rigid transform object.

Returns

Eigen::Matrix4f

Definition at line 572 of file InitialAlignment.cpp.

void InitialAlignment::getTransformationFromNormals ( PointCloudNormal::Ptr  source_normals, PointCloudNormal::Ptr  target_normals  )

private

Get transformation between cloud based on normals correspondences.

Parameters

[in]	source_normals
[in]	target_normals

Definition at line 189 of file InitialAlignment.cpp.

void InitialAlignment::matrixFromAngles ( PointCloudNormal::Ptr  normal, size_t  size, Eigen::MatrixXd &  matrix, Eigen::MatrixXi &  index_matrix  )

private

Construct matrix based on angles between normals.

Parameters

[in]	normal
[in]	size
[out]	matrix
[out]	index_matrix

Definition at line 345 of file InitialAlignment.cpp.

Eigen::VectorXd InitialAlignment::nextVector ( Eigen::MatrixXd  matrix, int  current_col, int  current_row  )

private

Get next matrix vector with extracted current col and row.

Parameters

matrix
current_col
current_row

Returns

Eigen::VectorXd

Definition at line 223 of file InitialAlignment.cpp.

bool InitialAlignment::normalsCorrespondences ( PointCloudNormal::Ptr  source_dominant_normal, PointCloudNormal::Ptr  target_dominant_normal, std::vector< int > &  source_idx, std::vector< int > &  target_idx  )

private

Found correspondences between dominant normals.

Parameters

[in]	source_dominant_normal
[in]	target_dominant_normal
[out]	source_idx
[out]	target_idx

Returns

true

false

Definition at line 289 of file InitialAlignment.cpp.

int InitialAlignment::obtainBoundaryKeypoints ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, PointCloudRGB::Ptr  keypoints_cloud, pcl::IndicesPtr  keypoints_indices, pcl::IndicesPtr  non_keypoints_indices  )

private

Obtain cloud keypoints based on boundary method.

Parameters

[in]	cloud
[in]	normals
[out]	keypoints_cloud
[out]	keypoints_indices
[out]	non_keypoints_indices

Returns

int

Definition at line 426 of file InitialAlignment.cpp.

void InitialAlignment::obtainCorrespondences ( )

private

Get correspondences between clouds from computed features.

Definition at line 510 of file InitialAlignment.cpp.

void InitialAlignment::obtainDominantNormals ( PointCloudNormal::Ptr  normals, std::vector< pcl::PointIndices >  cluster_indices, PointCloudNormal::Ptr  dominant_normals  )

private

Obtain dominant normal in given cluster.

Parameters

[in]	normals
[in]	cluster_indices
[out]	dominant_normals

Definition at line 163 of file InitialAlignment.cpp.

int InitialAlignment::obtainFeatures ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, pcl::IndicesPtr  keypoints_indices, PointCloudFPFH::Ptr  features  )

private

Obtain cloud features based on given keypoints.

Parameters

[in]	cloud
[in]	normals
[in]	keypoints_indices
[out]	features

Returns

int

Definition at line 487 of file InitialAlignment.cpp.

int InitialAlignment::obtainHarrisKeypoints ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, PointCloudRGB::Ptr  keypoints_cloud, pcl::IndicesPtr  keypoints_indices  )

private

Obtain cloud keypoints based on harris method.

Parameters

cloud
normals
keypoints_cloud
keypoints_indices

Returns

int

Definition at line 399 of file InitialAlignment.cpp.

int InitialAlignment::obtainKeypointsAndFeatures ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, PointCloudRGB::Ptr  keypoints_cloud, PointCloudFPFH::Ptr  features_cloud  )

private

Obtain keypoints and features based on set method.

Parameters

cloud
normals
keypoints_cloud
features_cloud

Returns

int

Definition at line 366 of file InitialAlignment.cpp.

int InitialAlignment::obtainMultiScaleKeypointsAndFeatures ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, PointCloudRGB::Ptr  keypoints_cloud, pcl::IndicesPtr  keypoints_indices, PointCloudFPFH::Ptr  features  )

private

Obtain cloud keypoints based on multiscale method.

Parameters

[in]	cloud
[in]	normals
[out]	keypoints_cloud
[out]	keypoints_indices
[out]	features

Returns

int

Definition at line 458 of file InitialAlignment.cpp.

void InitialAlignment::obtainNormalsCluster ( PointCloudRGB::Ptr  cloud, PointCloudNormal::Ptr  normals, std::vector< pcl::PointIndices > &  cluster_indices  )

private

Cluster clouds normals.

Parameters

[in]	cloud
[in]	normals
[out]	cluster_indices

Definition at line 130 of file InitialAlignment.cpp.

void InitialAlignment::rejectCorrespondences ( )

private

Reject computed correspondences.

Definition at line 519 of file InitialAlignment.cpp.

void InitialAlignment::rejectOneToOneCorrespondences ( )

private

Reject computed correspondences.

Definition at line 532 of file InitialAlignment.cpp.

void InitialAlignment::run

(

)

Perform initial alignment.

Definition at line 62 of file InitialAlignment.cpp.

void InitialAlignment::runKeypointsBasedAlgorithm ( )

private

Run keypoints based algorithm. Compute keypoints and features, found correspondences and get transform.

Definition at line 117 of file InitialAlignment.cpp.

void InitialAlignment::runNormalsBasedAlgorithm ( )

private

If set method is NORMALS run algorithm. Cluster normals and found correspondences between dominant normals. Get transform between clouds.

Definition at line 81 of file InitialAlignment.cpp.

void InitialAlignment::setMethod

(

AlignmentMethod

method

)

Set the AlignmentMethod object.

Parameters

method

Definition at line 577 of file InitialAlignment.cpp.

void InitialAlignment::setRadiusFactor

(

double

align_factor

)

Set the Radius Factor object.

Parameters

align_factor

Definition at line 582 of file InitialAlignment.cpp.

Member Data Documentation

PointCloudRGB::Ptr InitialAlignment::aligned_cloud_

private

Source pointcloud aligned with target cloud.

Definition at line 158 of file InitialAlignment.h.

pcl::CorrespondencesPtr InitialAlignment::correspondences_

private

Correspondences between source and target.

Definition at line 185 of file InitialAlignment.h.

AlignmentMethod InitialAlignment::method_

private

The alignment method.

Definition at line 188 of file InitialAlignment.h.

double InitialAlignment::normal_radius_

private

Radius to compute normals.

Definition at line 146 of file InitialAlignment.h.

double InitialAlignment::radius_factor_

private

Factor to apply to radius for computations.

Definition at line 149 of file InitialAlignment.h.

Eigen::Matrix4f InitialAlignment::rigid_tf_

private

Transformation matrix as result of initial alignment.

Definition at line 143 of file InitialAlignment.h.

Eigen::Vector4f InitialAlignment::source_centroid_

private

Source centroid computed.

Definition at line 191 of file InitialAlignment.h.

PointCloudRGB::Ptr InitialAlignment::source_cloud_

private

Source pointcloud.

Definition at line 155 of file InitialAlignment.h.

PointCloudNormal::Ptr InitialAlignment::source_dominant_normals_

private

Source dominant normals. Just used int NORMALS method.

Definition at line 167 of file InitialAlignment.h.

PointCloudFPFH::Ptr InitialAlignment::source_features_

private

Source features.

Definition at line 182 of file InitialAlignment.h.

PointCloudRGB::Ptr InitialAlignment::source_keypoints_

private

Source keypoints.

Definition at line 176 of file InitialAlignment.h.

PointCloudNormal::Ptr InitialAlignment::source_normals_

private

Source normals.

Definition at line 161 of file InitialAlignment.h.

Eigen::Vector4f InitialAlignment::target_centroid_

private

Target centroid computed.

Definition at line 194 of file InitialAlignment.h.

PointCloudRGB::Ptr InitialAlignment::target_cloud_

private

Target pointcloud.

Definition at line 152 of file InitialAlignment.h.

PointCloudNormal::Ptr InitialAlignment::target_dominant_normals_

private

Target dominant normals. Just used int NORMALS method.

Definition at line 170 of file InitialAlignment.h.

PointCloudFPFH::Ptr InitialAlignment::target_features_

private

Target features.

Definition at line 179 of file InitialAlignment.h.

PointCloudRGB::Ptr InitialAlignment::target_keypoints_

private

Target keypoints.

Definition at line 173 of file InitialAlignment.h.

PointCloudNormal::Ptr InitialAlignment::target_normals_

private

Target normals.

Definition at line 164 of file InitialAlignment.h.

bool InitialAlignment::transform_exists_

If true, rigid transformation is complete.

Definition at line 80 of file InitialAlignment.h.

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

• InitialAlignment.h
• InitialAlignment.cpp