Point Cloud Library (PCL)
1.9.1
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37 #ifndef PCL_REGISTRATION_IA_KFPCS_H_
38 #define PCL_REGISTRATION_IA_KFPCS_H_
40 #include <pcl/registration/ia_fpcs.h>
44 namespace registration
54 template <
typename Po
intSource,
typename Po
intTarget,
typename NormalT = pcl::Normal,
typename Scalar =
float>
59 typedef boost::shared_ptr <KFPCSInitialAlignment <PointSource, PointTarget, NormalT, Scalar> >
Ptr;
60 typedef boost::shared_ptr <const KFPCSInitialAlignment <PointSource, PointTarget, NormalT, Scalar> >
ConstPtr;
204 const std::vector <int> &base_indices,
205 std::vector <std::vector <int> > &matches,
227 finalCompute (
const std::vector <MatchingCandidates > &candidates);
260 #include <pcl/registration/impl/ia_kfpcs.hpp>
262 #endif // PCL_REGISTRATION_IA_KFPCS_H_
virtual ~KFPCSInitialAlignment()
Destructor.
boost::shared_ptr< std::vector< int > > IndicesPtr
float lower_trl_boundary_
Lower boundary for translation costs calculation.
KFPCSInitialAlignment()
Constructor.
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointSource > > Ptr
virtual void handleMatches(const std::vector< int > &base_indices, std::vector< std::vector< int > > &matches, MatchingCandidates &candidates)
Method to handle current candidate matches.
float upper_trl_boundary_
Upper boundary for translation costs calculation.
Registration represents the base registration class for general purpose, ICP-like methods.
FPCSInitialAlignment computes corresponding four point congruent sets as described in: "4-points cong...
std::vector< MatchingCandidate, Eigen::aligned_allocator< MatchingCandidate > > MatchingCandidates
bool use_trl_score_
Flag if translation score should be used in validation (internal calculation).
float getLowerTranslationThreshold() const
pcl::PointCloud< PointTarget > PointCloudTarget
void getNBestCandidates(int n, float min_angle3d, float min_translation3d, MatchingCandidates &candidates)
Get the N best unique candidate matches according to their fitness score.
void setUpperTranslationThreshold(float upper_trl_boundary)
Set the upper translation threshold used for score evaluation.
void getTBestCandidates(float t, float min_angle3d, float min_translation3d, MatchingCandidates &candidates)
Get all unique candidate matches with fitness scores above a threshold t.
boost::shared_ptr< const Registration< PointSource, PointTarget, float > > ConstPtr
float getUpperTranslationThreshold() const
boost::shared_ptr< Registration< PointSource, PointTarget, float > > Ptr
KFPCSInitialAlignment computes corresponding four point congruent sets based on keypoints as describe...
PointCloudTarget::Ptr PointCloudTargetPtr
virtual int validateTransformation(Eigen::Matrix4f &transformation, float &fitness_score)
Validate the transformation by calculating the score value after transforming the input source cloud.
VectorType::iterator iterator
void setLambda(float lambda)
Set the weighting factor of the translation cost term.
float lambda_
Weighting factor for translation costs (standard = 0.5).
MatchingCandidates candidates_
Container for resulting vector of registration candidates.
virtual void finalCompute(const std::vector< MatchingCandidates > &candidates)
Final computation of best match out of vector of matches.
pcl::IndicesPtr indices_validation_
Subset of input indices on which we evaluate candidates.
PointCloudSource::Ptr PointCloudSourcePtr
void setLowerTranslationThreshold(float lower_trl_boundary)
Set the lower translation threshold used for score evaluation.
pcl::PointCloud< PointSource > PointCloudSource
Container for matching candidate consisting of.
virtual bool initCompute()
Internal computation initialization.