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. More...

#include <pcl/registration/correspondence_rejection_poly.h>

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

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

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorPoly< SourceT, TargetT > >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorPoly< SourceT, TargetT > >

using	PointCloudSource = pcl::PointCloud< SourceT >

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = pcl::PointCloud< TargetT >

using	PointCloudTargetPtr = typename PointCloudTarget::Ptr

using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Public Types inherited from pcl::registration::CorrespondenceRejector
using	Ptr = shared_ptr< CorrespondenceRejector >

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorPoly ()
	Empty constructor. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

void	setInputTarget (const PointCloudTargetConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

bool	requiresSourcePoints () const override
	See if this rejector requires source points. More...

void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Blob method for setting the source cloud. More...

bool	requiresTargetPoints () const override
	See if this rejector requires a target cloud. More...

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Method for setting the target cloud. More...

void	setCardinality (int cardinality)
	Set the polygon cardinality. More...

int	getCardinality ()
	Get the polygon cardinality. More...

void	setSimilarityThreshold (float similarity_threshold)
	Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match. More...

float	getSimilarityThreshold ()
	Get the similarity threshold between edge lengths. More...

void	setIterations (int iterations)
	Set the number of iterations. More...

int	getIterations ()
	Get the number of iterations. More...

bool	thresholdPolygon (const pcl::Correspondences &corr, const std::vector< int > &idx)
	Polygonal rejection of a single polygon, indexed by a subset of correspondences. More...

bool	thresholdPolygon (const pcl::Indices &source_indices, const pcl::Indices &target_indices)
	Polygonal rejection of a single polygon, indexed by two point index vectors. More...

Public Member Functions inherited from pcl::registration::CorrespondenceRejector
	CorrespondenceRejector ()=default
	Empty constructor. More...

virtual	~CorrespondenceRejector ()=default
	Empty destructor. More...

virtual void	setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
	Provide a pointer to the vector of the input correspondences. More...

CorrespondencesConstPtr	getInputCorrespondences ()
	Get a pointer to the vector of the input correspondences. More...

void	getCorrespondences (pcl::Correspondences &correspondences)
	Run correspondence rejection. More...

void	getRejectedQueryIndices (const pcl::Correspondences &correspondences, pcl::Indices &indices)
	Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More...

const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...

virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals. More...

virtual bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...

virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals. More...

Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences) override
	Apply the rejection algorithm. More...

std::vector< int >	getUniqueRandomIndices (int n, int k)
	Get k unique random indices in range {0,...,n-1} (sampling without replacement) More...

float	computeSquaredDistance (const SourceT &p1, const TargetT &p2)
	Squared Euclidean distance between two points using the members x, y and z. More...

bool	thresholdEdgeLength (int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)
	Edge length similarity thresholding. More...

std::vector< int >	computeHistogram (const std::vector< float > &data, float lower, float upper, int bins)
	Compute a linear histogram. More...

int	findThresholdOtsu (const std::vector< int > &histogram)
	Find the optimal value for binary histogram thresholding using Otsu's method. More...

Protected Attributes
PointCloudSourceConstPtr	input_
	The input point cloud dataset. More...

PointCloudTargetConstPtr	target_
	The input point cloud dataset target. More...

int	iterations_ {10000}
	Number of iterations to run. More...

int	cardinality_ {3}
	The polygon cardinality used during rejection. More...

float	similarity_threshold_ {0.75f}
	Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match. More...

float	similarity_threshold_squared_ {0.75f * 0.75f}
	Squared value if similarity_threshold_, only for internal use. More...

Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string	rejection_name_ {}
	The name of the rejection method. More...

CorrespondencesConstPtr	input_correspondences_
	The input correspondences. More...

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 63 of file correspondence_rejection_poly.h.

Member Typedef Documentation

◆ ConstPtr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::ConstPtr = shared_ptr<const CorrespondenceRejectorPoly<SourceT, TargetT> >

Definition at line 70 of file correspondence_rejection_poly.h.

◆ PointCloudSource

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSource = pcl::PointCloud<SourceT>

Definition at line 72 of file correspondence_rejection_poly.h.

◆ PointCloudSourceConstPtr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 74 of file correspondence_rejection_poly.h.

◆ PointCloudSourcePtr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 73 of file correspondence_rejection_poly.h.

◆ PointCloudTarget

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTarget = pcl::PointCloud<TargetT>

Definition at line 76 of file correspondence_rejection_poly.h.

◆ PointCloudTargetConstPtr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

Definition at line 78 of file correspondence_rejection_poly.h.

◆ PointCloudTargetPtr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::PointCloudTargetPtr = typename PointCloudTarget::Ptr

Definition at line 77 of file correspondence_rejection_poly.h.

◆ Ptr

template<typename SourceT , typename TargetT >

using pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::Ptr = shared_ptr<CorrespondenceRejectorPoly<SourceT, TargetT> >

Definition at line 69 of file correspondence_rejection_poly.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorPoly()

template<typename SourceT , typename TargetT >

pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::CorrespondenceRejectorPoly ( )

inline

Empty constructor.

Definition at line 81 of file correspondence_rejection_poly.h.

Member Function Documentation

◆ applyRejection()

template<typename SourceT , typename TargetT >

void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::applyRejection ( pcl::Correspondences & correspondences )

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 261 of file correspondence_rejection_poly.h.

◆ computeHistogram()

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 158 of file correspondence_rejection_poly.hpp.

◆ computeSquaredDistance()

template<typename SourceT , typename TargetT >

float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::computeSquaredDistance	(	const SourceT &	p1,
		const TargetT &	p2
	)

inlineprotected

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 303 of file correspondence_rejection_poly.h.

◆ findThresholdOtsu()

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 177 of file correspondence_rejection_poly.hpp.

◆ getCardinality()

template<typename SourceT , typename TargetT >

int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getCardinality ( )

inline

Get the polygon cardinality.

Returns: polygon cardinality

Definition at line 158 of file correspondence_rejection_poly.h.

◆ getIterations()

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 196 of file correspondence_rejection_poly.h.

◆ getRemainingCorrespondences()

template<typename SourceT , typename TargetT >

void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

overridevirtual

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 48 of file correspondence_rejection_poly.hpp.

◆ getSimilarityThreshold()

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 178 of file correspondence_rejection_poly.h.

◆ getUniqueRandomIndices()

template<typename SourceT , typename TargetT >

std::vector<int> pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::getUniqueRandomIndices	(	int	n,
		int	k
	)

inlineprotected

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 273 of file correspondence_rejection_poly.h.

◆ requiresSourcePoints()

template<typename SourceT , typename TargetT >

bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::requiresSourcePoints ( ) const

inlineoverridevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 115 of file correspondence_rejection_poly.h.

◆ requiresTargetPoints()

template<typename SourceT , typename TargetT >

bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::requiresTargetPoints ( ) const

inlineoverridevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 131 of file correspondence_rejection_poly.h.

◆ setCardinality()

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 149 of file correspondence_rejection_poly.h.

◆ setInputSource()

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 98 of file correspondence_rejection_poly.h.

◆ setInputTarget()

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 108 of file correspondence_rejection_poly.h.

◆ setIterations()

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 187 of file correspondence_rejection_poly.h.

◆ setSimilarityThreshold()

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_threshold similarity threshold

Definition at line 168 of file correspondence_rejection_poly.h.

◆ setSourcePoints()

template<typename SourceT , typename TargetT >

void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlineoverridevirtual

Blob method for setting the source cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 122 of file correspondence_rejection_poly.h.

References pcl::fromPCLPointCloud2().

◆ setTargetPoints()

template<typename SourceT , typename TargetT >

void pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlineoverridevirtual

Method for setting the target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 138 of file correspondence_rejection_poly.h.

References pcl::fromPCLPointCloud2().

◆ thresholdEdgeLength()

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
	)

inlineprotected

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 321 of file correspondence_rejection_poly.h.

◆ thresholdPolygon() [1/2]

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 208 of file correspondence_rejection_poly.h.

◆ thresholdPolygon() [2/2]

template<typename SourceT , typename TargetT >

bool pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::thresholdPolygon	(	const pcl::Indices &	source_indices,
		const pcl::Indices &	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 241 of file correspondence_rejection_poly.h.

Member Data Documentation

◆ cardinality_

template<typename SourceT , typename TargetT >

int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::cardinality_ {3}

protected

The polygon cardinality used during rejection.

Definition at line 370 of file correspondence_rejection_poly.h.

◆ input_

template<typename SourceT , typename TargetT >

PointCloudSourceConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::input_

protected

The input point cloud dataset.

Definition at line 361 of file correspondence_rejection_poly.h.

◆ iterations_

template<typename SourceT , typename TargetT >

int pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::iterations_ {10000}

protected

Number of iterations to run.

Definition at line 367 of file correspondence_rejection_poly.h.

◆ similarity_threshold_

template<typename SourceT , typename TargetT >

float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_ {0.75f}

protected

Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect match.

Definition at line 374 of file correspondence_rejection_poly.h.

◆ similarity_threshold_squared_

template<typename SourceT , typename TargetT >

float pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::similarity_threshold_squared_ {0.75f * 0.75f}

protected

Squared value if similarity_threshold_, only for internal use.

Definition at line 377 of file correspondence_rejection_poly.h.

◆ target_

template<typename SourceT , typename TargetT >

PointCloudTargetConstPtr pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >::target_

protected

The input point cloud dataset target.

Definition at line 364 of file correspondence_rejection_poly.h.

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

pcl/registration/correspondence_rejection_poly.h
pcl/registration/impl/correspondence_rejection_poly.hpp

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

◆ ConstPtr

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointCloudTargetConstPtr

◆ PointCloudTargetPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorPoly()

Member Function Documentation

◆ applyRejection()

◆ computeHistogram()

◆ computeSquaredDistance()

◆ findThresholdOtsu()

◆ getCardinality()

◆ getIterations()

◆ getRemainingCorrespondences()

◆ getSimilarityThreshold()

◆ getUniqueRandomIndices()

◆ requiresSourcePoints()

◆ requiresTargetPoints()

◆ setCardinality()

◆ setInputSource()

◆ setInputTarget()

◆ setIterations()

◆ setSimilarityThreshold()

◆ setSourcePoints()

◆ setTargetPoints()

◆ thresholdEdgeLength()

◆ thresholdPolygon() [1/2]

◆ thresholdPolygon() [2/2]

Member Data Documentation

◆ cardinality_

◆ input_

◆ iterations_

◆ similarity_threshold_

◆ similarity_threshold_squared_

◆ target_

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