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

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

Inheritance diagram for pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >:

Collaboration diagram for pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >:

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 ()=default
	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 () override
	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...

PointCloudConstPtr const	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...

IndicesConstPtr const	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_ {3}
	Minimum cluster size. More...

double	gc_size_ {1.0}
	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 ( )

default

Constructor.

Member Function Documentation

◆ clusterCorrespondences()

template<typename PointModelT , typename PointSceneT >

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

overrideprotectedvirtual

Cluster the input correspondences in order to distinguish between different instances of the model into the scene.

Parameters

[out] model_instances a vector containing the clustered correspondences for each model found on the scene.

Returns: true if the clustering had been successful or false if errors have occurred.

Implements pcl::CorrespondenceGrouping< PointModelT, PointSceneT >.

Definition at line 57 of file geometric_consistency.hpp.

References pcl::copyPointCloud(), pcl::geometry::distance(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInlierThreshold(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaximumIterations().

◆ 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 100 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 80 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 157 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 166 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 90 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 70 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 136 of file geometric_consistency.h.

◆ gc_size_

template<typename PointModelT , typename PointSceneT >

double pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::gc_size_ {1.0}

protected

Resolution of the consensus set used to cluster correspondences together.

Definition at line 133 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_ {3}

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 130 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:

pcl/recognition/cg/geometric_consistency.h
pcl/recognition/impl/cg/geometric_consistency.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ SceneCloudConstPtr

Constructor & Destructor Documentation

◆ GeometricConsistencyGrouping()

Member Function Documentation

◆ clusterCorrespondences()

◆ getGCSize()

◆ getGCThreshold()

◆ recognize() [1/2]

◆ recognize() [2/2]

◆ setGCSize()

◆ setGCThreshold()

Member Data Documentation

◆ found_transformations_

◆ gc_size_

◆ gc_threshold_

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