暴力搜索对应点生成器 / Brute-force correspondence generator More...

#include <brute_force_correspondence_generator.hpp>

Inheritance diagram for toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >:

Public Types
using	base_type = base_correspondence_generator_t< brute_force_correspondence_generator_t< DataType, Signature >, DataType, Signature >

Public Types inherited from toolbox::pcl::base_correspondence_generator_t< brute_force_correspondence_generator_t< DataType, Signature >, DataType, Signature >
using	point_cloud = toolbox::types::point_cloud_t< DataType >

using	point_cloud_ptr = std::shared_ptr< point_cloud >

using	signatures_ptr = std::shared_ptr< std::vector< Signature > >

using	keypoint_indices_ptr = std::shared_ptr< std::vector< std::size_t > >

Public Member Functions
void	enable_parallel (bool enable)
	启用或禁用并行计算 / Enable or disable parallel computation

bool	is_parallel_enabled () const
	获取是否启用并行计算 / Get whether parallel computation is enabled

void	compute_impl (std::vector< correspondence_t > &correspondences)
	计算对应关系的实现 / Implementation of computing correspondences

Public Member Functions inherited from toolbox::pcl::base_correspondence_generator_t< brute_force_correspondence_generator_t< DataType, Signature >, DataType, Signature >
	base_correspondence_generator_t ()=default

	base_correspondence_generator_t (const base_correspondence_generator_t &)=delete

	base_correspondence_generator_t (base_correspondence_generator_t &&)=default

virtual	~base_correspondence_generator_t ()=default

base_correspondence_generator_t &	operator= (const base_correspondence_generator_t &)=delete

base_correspondence_generator_t &	operator= (base_correspondence_generator_t &&)=default

void	set_source (const point_cloud_ptr &src_cloud, const signatures_ptr &src_descriptors, const keypoint_indices_ptr &src_keypoint_indices)
	设置源数据 / Set source data

void	set_destination (const point_cloud_ptr &dst_cloud, const signatures_ptr &dst_descriptors, const keypoint_indices_ptr &dst_keypoint_indices)
	设置目标数据 / Set destination data

void	set_ratio (float ratio)
	设置比率测试阈值 / Set ratio test threshold

float	get_ratio () const
	获取比率测试阈值 / Get ratio test threshold

void	set_mutual_verification (bool mutual_verification)
	设置是否启用双向验证 / Set whether to enable mutual verification

bool	get_mutual_verification () const
	获取是否启用双向验证 / Get whether mutual verification is enabled

void	set_distance_threshold (float distance_threshold)
	设置距离阈值 / Set distance threshold

float	get_distance_threshold () const
	获取距离阈值 / Get distance threshold

void	compute (std::vector< correspondence_t > &correspondences)
	计算对应关系 / Compute correspondences

std::string	get_statistics () const
	获取最后一次计算的统计信息 / Get statistics from last computation

Additional Inherited Members
Protected Member Functions inherited from toolbox::pcl::base_correspondence_generator_t< brute_force_correspondence_generator_t< DataType, Signature >, DataType, Signature >
bool	validate_input () const
	验证输入数据的有效性 / Validate input data

bool	apply_ratio_test (const std::vector< correspondence_t > &candidates) const
	应用比率测试 / Apply ratio test

void	apply_distance_threshold (std::vector< correspondence_t > &correspondences) const
	应用距离阈值过滤 / Apply distance threshold filtering

float	compute_geometric_consistency (const std::vector< correspondence_t > &correspondences) const
	计算几何一致性分数（简单验证） / Compute geometric consistency score (simple verification)

void	reset_statistics ()
	重置统计信息 / Reset statistics

Protected Attributes inherited from toolbox::pcl::base_correspondence_generator_t< brute_force_correspondence_generator_t< DataType, Signature >, DataType, Signature >
point_cloud_ptr	m_src_cloud

point_cloud_ptr	m_dst_cloud

signatures_ptr	m_src_descriptors

signatures_ptr	m_dst_descriptors

keypoint_indices_ptr	m_src_keypoint_indices

keypoint_indices_ptr	m_dst_keypoint_indices

float	m_ratio
	比率测试阈值 / Ratio test threshold

float	m_distance_threshold
	距离阈值 / Distance threshold

bool	m_mutual_verification
	是否启用双向验证 / Whether to enable mutual verification

std::size_t	m_total_candidates

std::size_t	m_ratio_test_passed

std::size_t	m_mutual_test_passed

std::size_t	m_distance_test_passed

Detailed Description

template<typename DataType, typename Signature>
class toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >

暴力搜索对应点生成器 / Brute-force correspondence generator

直接计算所有描述子对之间的距离，不使用任何加速结构。适用于小规模数据或需要精确结果的场景。 Directly computes distances between all descriptor pairs without any acceleration structure. Suitable for small-scale data or scenarios requiring exact results.

Template Parameters

DataType	数据类型（如float或double） / Data type (e.g., float or double)
Signature	描述子签名类型 / Descriptor signature type

// 使用示例 / Usage example
brute_force_correspondence_generator_t<float, fpfh_signature_t<float>> corr_gen;
 
// 设置数据和参数 / Set data and parameters
corr_gen.set_source(src_cloud, src_descriptors, src_keypoints);
corr_gen.set_destination(dst_cloud, dst_descriptors, dst_keypoints);
corr_gen.set_ratio(0.8f);
corr_gen.set_mutual_verification(true);
corr_gen.enable_parallel(true);  // 启用并行计算 / Enable parallel computation
 
// 计算对应关系 / Compute correspondences
std::vector<correspondence_t> correspondences;
corr_gen.compute(correspondences);

Member Typedef Documentation

◆ base_type

template<typename DataType , typename Signature >

using toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >::base_type = base_correspondence_generator_t< brute_force_correspondence_generator_t<DataType, Signature>, DataType, Signature>

Member Function Documentation

◆ compute_impl()

template<typename DataType , typename Signature >

void toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >::compute_impl ( std::vector< correspondence_t > & correspondences )

计算对应关系的实现 / Implementation of computing correspondences

Parameters

correspondences [out] 输出的对应关系 / Output correspondences

◆ enable_parallel()

template<typename DataType , typename Signature >

void toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >::enable_parallel ( bool enable )

inline

启用或禁用并行计算 / Enable or disable parallel computation

Parameters

enable true启用并行，false禁用 / true to enable parallel, false to disable

◆ is_parallel_enabled()

template<typename DataType , typename Signature >

bool toolbox::pcl::brute_force_correspondence_generator_t< DataType, Signature >::is_parallel_enabled ( ) const

inline

获取是否启用并行计算 / Get whether parallel computation is enabled

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

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

src/include/cpp-toolbox/pcl/correspondence/brute_force_correspondence_generator.hpp
src/include/cpp-toolbox/pcl/correspondence/impl/brute_force_correspondence_generator_impl.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ base_type

Member Function Documentation

◆ compute_impl()

◆ enable_parallel()

◆ is_parallel_enabled()