粗配准算法的基类（CRTP模式） / Base class for coarse registration algorithms (CRTP pattern) More...

#include <base_coarse_registration.hpp>

Public Types
using	point_cloud = toolbox::types::point_cloud_t< DataType >

using	point_cloud_ptr = std::shared_ptr< point_cloud >

using	correspondences_ptr = std::shared_ptr< std::vector< correspondence_t > >

using	result_type = registration_result_t< DataType >

Public Member Functions
	base_coarse_registration_t ()=default

virtual	~base_coarse_registration_t ()=default

	base_coarse_registration_t (const base_coarse_registration_t &)=delete

base_coarse_registration_t &	operator= (const base_coarse_registration_t &)=delete

	base_coarse_registration_t (base_coarse_registration_t &&)=default

base_coarse_registration_t &	operator= (base_coarse_registration_t &&)=default

void	set_source (const point_cloud_ptr &source)
	设置源点云 / Set source point cloud

void	set_target (const point_cloud_ptr &target)
	设置目标点云 / Set target point cloud

void	set_correspondences (const correspondences_ptr &correspondences)
	设置初始对应关系（可选，主要用于RANSAC类算法） / Set initial correspondences (optional, mainly for RANSAC-like algorithms)

void	set_max_iterations (std::size_t max_iterations)
	设置最大迭代次数 / Set maximum iterations

void	set_inlier_threshold (DataType threshold)
	设置内点距离阈值 / Set inlier distance threshold

void	set_convergence_threshold (DataType threshold)
	设置收敛阈值 / Set convergence threshold

void	set_min_inliers (std::size_t min_inliers)
	设置最小内点数量 / Set minimum number of inliers

bool	align (result_type &result)
	执行配准 / Perform registration

std::string	get_algorithm_name () const
	获取算法名称 / Get algorithm name

void	enable_parallel (bool enable=true)
	启用/禁用并行计算 / Enable/disable parallel computation

bool	is_parallel_enabled () const
	获取并行计算状态 / Get parallel computation status

void	set_random_seed (unsigned int seed)
	设置随机种子 / Set random seed

Protected Member Functions
void	set_source_impl (const point_cloud_ptr &)
	派生类可选实现的钩子函数 / Optional hook functions for derived classes

void	set_target_impl (const point_cloud_ptr &)

void	set_correspondences_impl (const correspondences_ptr &)

void	set_max_iterations_impl (std::size_t)

void	set_inlier_threshold_impl (DataType)

void	set_convergence_threshold_impl (DataType)

void	set_min_inliers_impl (std::size_t)

bool	validate_input () const
	验证输入数据 / Validate input data

bool	validate_input_impl () const
	派生类的额外输入验证（可选） / Additional input validation for derived class (optional)

DataType	compute_fitness_score (const Eigen::Matrix< DataType, 4, 4 > &transformation, const std::vector< std::size_t > &inliers) const
	计算配准质量评分 / Compute registration fitness score

const point_cloud_ptr &	get_source_cloud () const
	获取受保护的成员变量访问 / Get access to protected members

const point_cloud_ptr &	get_target_cloud () const

const correspondences_ptr &	get_correspondences () const

std::size_t	get_max_iterations () const

DataType	get_inlier_threshold () const

DataType	get_convergence_threshold () const

std::size_t	get_min_inliers () const

unsigned int	get_random_seed () const

Detailed Description

template<typename Derived, typename DataType>
class toolbox::pcl::base_coarse_registration_t< Derived, DataType >

粗配准算法的基类（CRTP模式） / Base class for coarse registration algorithms (CRTP pattern)

Template Parameters

Derived	派生类类型 / Derived class type
DataType	数据类型（如float或double） / Data type (e.g., float or double)

Member Typedef Documentation

◆ correspondences_ptr

template<typename Derived , typename DataType >

using toolbox::pcl::base_coarse_registration_t< Derived, DataType >::correspondences_ptr = std::shared_ptr<std::vector<correspondence_t> >

◆ point_cloud

template<typename Derived , typename DataType >

using toolbox::pcl::base_coarse_registration_t< Derived, DataType >::point_cloud = toolbox::types::point_cloud_t<DataType>

◆ point_cloud_ptr

template<typename Derived , typename DataType >

using toolbox::pcl::base_coarse_registration_t< Derived, DataType >::point_cloud_ptr = std::shared_ptr<point_cloud>

◆ result_type

template<typename Derived , typename DataType >

using toolbox::pcl::base_coarse_registration_t< Derived, DataType >::result_type = registration_result_t<DataType>

Constructor & Destructor Documentation

◆ base_coarse_registration_t() [1/3]

template<typename Derived , typename DataType >

toolbox::pcl::base_coarse_registration_t< Derived, DataType >::base_coarse_registration_t ( )

default

◆ ~base_coarse_registration_t()

template<typename Derived , typename DataType >

virtual toolbox::pcl::base_coarse_registration_t< Derived, DataType >::~base_coarse_registration_t ( )

virtualdefault

◆ base_coarse_registration_t() [2/3]

template<typename Derived , typename DataType >

toolbox::pcl::base_coarse_registration_t< Derived, DataType >::base_coarse_registration_t ( const base_coarse_registration_t< Derived, DataType > & )

delete

◆ base_coarse_registration_t() [3/3]

template<typename Derived , typename DataType >

toolbox::pcl::base_coarse_registration_t< Derived, DataType >::base_coarse_registration_t ( base_coarse_registration_t< Derived, DataType > && )

default

Member Function Documentation

◆ align()

template<typename Derived , typename DataType >

bool toolbox::pcl::base_coarse_registration_t< Derived, DataType >::align ( result_type & result )

inline

执行配准 / Perform registration

Parameters

result [out] 配准结果 / Registration result

Returns: 是否成功 / Whether successful

◆ compute_fitness_score()

template<typename Derived , typename DataType >

DataType toolbox::pcl::base_coarse_registration_t< Derived, DataType >::compute_fitness_score	(	const Eigen::Matrix< DataType, 4, 4 > &	transformation,
		const std::vector< std::size_t > &	inliers
	)		const

inlineprotected

计算配准质量评分 / Compute registration fitness score

◆ enable_parallel()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::enable_parallel ( bool enable = true )

inline

启用/禁用并行计算 / Enable/disable parallel computation

Parameters

enable true启用，false禁用（默认启用） / true to enable, false to disable (default enabled)

◆ get_algorithm_name()

template<typename Derived , typename DataType >

std::string toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_algorithm_name ( ) const

inline

获取算法名称 / Get algorithm name

◆ get_convergence_threshold()

template<typename Derived , typename DataType >

DataType toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_convergence_threshold ( ) const

inlineprotected

◆ get_correspondences()

template<typename Derived , typename DataType >

const correspondences_ptr & toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_correspondences ( ) const

inlineprotected

◆ get_inlier_threshold()

template<typename Derived , typename DataType >

DataType toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_inlier_threshold ( ) const

inlineprotected

◆ get_max_iterations()

template<typename Derived , typename DataType >

std::size_t toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_max_iterations ( ) const

inlineprotected

◆ get_min_inliers()

template<typename Derived , typename DataType >

std::size_t toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_min_inliers ( ) const

inlineprotected

◆ get_random_seed()

template<typename Derived , typename DataType >

unsigned int toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_random_seed ( ) const

inlineprotected

◆ get_source_cloud()

template<typename Derived , typename DataType >

const point_cloud_ptr & toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_source_cloud ( ) const

inlineprotected

获取受保护的成员变量访问 / Get access to protected members

◆ get_target_cloud()

template<typename Derived , typename DataType >

const point_cloud_ptr & toolbox::pcl::base_coarse_registration_t< Derived, DataType >::get_target_cloud ( ) const

inlineprotected

◆ is_parallel_enabled()

template<typename Derived , typename DataType >

bool toolbox::pcl::base_coarse_registration_t< Derived, DataType >::is_parallel_enabled ( ) const

inline

获取并行计算状态 / Get parallel computation status

Returns: 是否启用并行 / Whether parallel is enabled

◆ operator=() [1/2]

template<typename Derived , typename DataType >

base_coarse_registration_t & toolbox::pcl::base_coarse_registration_t< Derived, DataType >::operator= ( base_coarse_registration_t< Derived, DataType > && )

default

◆ operator=() [2/2]

template<typename Derived , typename DataType >

base_coarse_registration_t & toolbox::pcl::base_coarse_registration_t< Derived, DataType >::operator= ( const base_coarse_registration_t< Derived, DataType > & )

delete

◆ set_convergence_threshold()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_convergence_threshold ( DataType threshold )

inline

设置收敛阈值 / Set convergence threshold

◆ set_convergence_threshold_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_convergence_threshold_impl ( DataType )

inlineprotected

◆ set_correspondences()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_correspondences ( const correspondences_ptr & correspondences )

inline

设置初始对应关系（可选，主要用于RANSAC类算法） / Set initial correspondences (optional, mainly for RANSAC-like algorithms)

◆ set_correspondences_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_correspondences_impl ( const correspondences_ptr & )

inlineprotected

◆ set_inlier_threshold()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_inlier_threshold ( DataType threshold )

inline

设置内点距离阈值 / Set inlier distance threshold

◆ set_inlier_threshold_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_inlier_threshold_impl ( DataType )

inlineprotected

◆ set_max_iterations()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_max_iterations ( std::size_t max_iterations )

inline

设置最大迭代次数 / Set maximum iterations

◆ set_max_iterations_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_max_iterations_impl ( std::size_t )

inlineprotected

◆ set_min_inliers()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_min_inliers ( std::size_t min_inliers )

inline

设置最小内点数量 / Set minimum number of inliers

◆ set_min_inliers_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_min_inliers_impl ( std::size_t )

inlineprotected

◆ set_random_seed()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_random_seed ( unsigned int seed )

inline

设置随机种子 / Set random seed

Parameters

seed	随机种子值 / Random seed value

◆ set_source()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_source ( const point_cloud_ptr & source )

inline

设置源点云 / Set source point cloud

◆ set_source_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_source_impl ( const point_cloud_ptr & )

inlineprotected

派生类可选实现的钩子函数 / Optional hook functions for derived classes

◆ set_target()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_target ( const point_cloud_ptr & target )

inline

设置目标点云 / Set target point cloud

◆ set_target_impl()

template<typename Derived , typename DataType >

void toolbox::pcl::base_coarse_registration_t< Derived, DataType >::set_target_impl ( const point_cloud_ptr & )

inlineprotected

◆ validate_input()

template<typename Derived , typename DataType >

bool toolbox::pcl::base_coarse_registration_t< Derived, DataType >::validate_input ( ) const

inlineprotected

验证输入数据 / Validate input data

◆ validate_input_impl()

template<typename Derived , typename DataType >

bool toolbox::pcl::base_coarse_registration_t< Derived, DataType >::validate_input_impl ( ) const

inlineprotected

派生类的额外输入验证（可选） / Additional input validation for derived class (optional)

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

src/include/cpp-toolbox/pcl/registration/base_coarse_registration.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ correspondences_ptr

◆ point_cloud

◆ point_cloud_ptr

◆ result_type

Constructor & Destructor Documentation

◆ base_coarse_registration_t() [1/3]

◆ ~base_coarse_registration_t()

◆ base_coarse_registration_t() [2/3]

◆ base_coarse_registration_t() [3/3]

Member Function Documentation

◆ align()

◆ compute_fitness_score()

◆ enable_parallel()

◆ get_algorithm_name()

◆ get_convergence_threshold()

◆ get_correspondences()

◆ get_inlier_threshold()

◆ get_max_iterations()

◆ get_min_inliers()

◆ get_random_seed()

◆ get_source_cloud()

◆ get_target_cloud()

◆ is_parallel_enabled()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_convergence_threshold()

◆ set_convergence_threshold_impl()

◆ set_correspondences()

◆ set_correspondences_impl()

◆ set_inlier_threshold()

◆ set_inlier_threshold_impl()

◆ set_max_iterations()

◆ set_max_iterations_impl()

◆ set_min_inliers()

◆ set_min_inliers_impl()

◆ set_random_seed()

◆ set_source()

◆ set_source_impl()

◆ set_target()

◆ set_target_impl()

◆ validate_input()

◆ validate_input_impl()