toolbox::pcl::combined_sorter_t< DataType > Class Template Reference

组合多个排序器的对应关系排序器 / Correspondence sorter that combines multiple sorters More...

#include <combined_sorter.hpp>

Inheritance diagram for toolbox::pcl::combined_sorter_t< DataType >:

Public Types
using	base_type = base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >
Public Types inherited from toolbox::pcl::base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >
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	quality_scores_t = std::vector< DataType >
using	sorted_indices_t = std::vector< std::size_t >

Public Member Functions
	combined_sorter_t ()=default
	~combined_sorter_t ()=default
template<typename SorterType >
void	add_sorter (std::shared_ptr< SorterType > sorter, DataType weight)
	添加子排序器及其权重 / Add a sub-sorter with its weight
void	normalize_weights ()
	归一化权重，使其总和为1 / Normalize weights to sum to 1
std::size_t	get_num_sorters () const
	获取子排序器数量 / Get number of sub-sorters
DataType	get_weight (std::size_t index) const
	获取指定索引的权重 / Get weight at specified index
void	clear_sorters ()
	清除所有子排序器 / Clear all sub-sorters
Public Member Functions inherited from toolbox::pcl::base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >
	base_correspondence_sorter_t ()=default
	base_correspondence_sorter_t (const base_correspondence_sorter_t &)=delete
	base_correspondence_sorter_t (base_correspondence_sorter_t &&)=default
virtual	~base_correspondence_sorter_t ()=default
base_correspondence_sorter_t &	operator= (const base_correspondence_sorter_t &)=delete
base_correspondence_sorter_t &	operator= (base_correspondence_sorter_t &&)=default
void	set_point_clouds (const point_cloud_ptr &source, const point_cloud_ptr &target)
	设置源点云和目标点云 / Set source and target point clouds
void	set_correspondences (const correspondences_ptr &correspondences)
	设置对应关系 / Set correspondences
sorted_indices_t	compute_sorted_indices (quality_scores_t &scores)
	计算质量分数并返回排序后的索引 / Compute quality scores and return sorted indices
quality_scores_t	compute_quality_scores ()
	仅计算质量分数，不排序 / Compute quality scores only, without sorting
std::string	get_sorter_name () const
	获取排序器名称 / Get sorter name
void	clear_cache ()
	清除缓存 / Clear cache
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

Protected Member Functions
void	compute_quality_scores_impl (quality_scores_t &scores)
	计算质量分数的实现 / Implementation of quality score computation
std::string	get_sorter_name_impl () const
	获取排序器名称实现 / Get sorter name implementation
Protected Member Functions inherited from toolbox::pcl::base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >
bool	validate_input () const
	验证输入数据 / Validate input data
bool	validate_input_impl () const
	派生类可选的额外验证 / Optional additional validation for derived class
std::string	get_sorter_name_impl () const
	派生类必须实现的排序器名称获取方法 / Sorter name getter that derived class must implement
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

Friends
class	base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >

Additional Inherited Members
Protected Attributes inherited from toolbox::pcl::base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >
point_cloud_ptr	m_source_cloud
point_cloud_ptr	m_target_cloud
correspondences_ptr	m_correspondences
bool	m_cached
quality_scores_t	m_cached_scores
sorted_indices_t	m_cached_indices
bool	m_parallel_enabled

Detailed Description

template<typename DataType>
class toolbox::pcl::combined_sorter_t< DataType >

组合多个排序器的对应关系排序器 / Correspondence sorter that combines multiple sorters

该排序器可以组合多个子排序器的结果，通过加权平均计算最终质量分数。 This sorter can combine results from multiple sub-sorters by computing a weighted average of their quality scores.

Template Parameters

DataType

数据类型（如float或double） / Data type (e.g., float or double)

// 使用示例 / Usage example
combined_sorter_t<float> combined_sorter;
 
// 添加描述子距离排序器（权重0.6） / Add descriptor distance sorter (weight
0.6) auto dist_sorter =
std::make_shared<descriptor_distance_sorter_t<float>>();
combined_sorter.add_sorter(dist_sorter, 0.6f);
 
// 添加几何一致性排序器（权重0.4） / Add geometric consistency sorter
(weight 0.4) auto geom_sorter =
std::make_shared<geometric_consistency_sorter_t<float>>();
combined_sorter.add_sorter(geom_sorter, 0.4f);
 
// 归一化权重 / Normalize weights
combined_sorter.normalize_weights();

Member Typedef Documentation

base_type

template<typename DataType >

using toolbox::pcl::combined_sorter_t< DataType >::base_type = base_correspondence_sorter_t<combined_sorter_t<DataType>, DataType>

Constructor & Destructor Documentation

combined_sorter_t()

template<typename DataType >

toolbox::pcl::combined_sorter_t< DataType >::combined_sorter_t ( )

default

~combined_sorter_t()

template<typename DataType >

toolbox::pcl::combined_sorter_t< DataType >::~combined_sorter_t ( )

default

Member Function Documentation

add_sorter()

template<typename DataType >

template<typename SorterType >

void toolbox::pcl::combined_sorter_t< DataType >::add_sorter ( std::shared_ptr< SorterType >  sorter, DataType  weight  )

inline

添加子排序器及其权重 / Add a sub-sorter with its weight

Template Parameters

SorterType

排序器类型 / Sorter type

Parameters

sorter	排序器实例 / Sorter instance
weight	权重 / Weight

clear_sorters()

template<typename DataType >

void toolbox::pcl::combined_sorter_t< DataType >::clear_sorters ( )

inline

清除所有子排序器 / Clear all sub-sorters

compute_quality_scores_impl()

template<typename DataType >

void toolbox::pcl::combined_sorter_t< DataType >::compute_quality_scores_impl ( quality_scores_t &  scores )

inlineprotected

计算质量分数的实现 / Implementation of quality score computation

Parameters

scores

[out] 质量分数 / Quality scores

get_num_sorters()

template<typename DataType >

std::size_t toolbox::pcl::combined_sorter_t< DataType >::get_num_sorters ( ) const

inline

获取子排序器数量 / Get number of sub-sorters

Returns

子排序器数量 / Number of sub-sorters

get_sorter_name_impl()

template<typename DataType >

std::string toolbox::pcl::combined_sorter_t< DataType >::get_sorter_name_impl ( ) const

inlineprotected

获取排序器名称实现 / Get sorter name implementation

Returns

排序器名称 / Sorter name

get_weight()

template<typename DataType >

DataType toolbox::pcl::combined_sorter_t< DataType >::get_weight ( std::size_t  index ) const

inline

获取指定索引的权重 / Get weight at specified index

Parameters

index

索引 / Index

Returns

权重 / Weight

normalize_weights()

template<typename DataType >

void toolbox::pcl::combined_sorter_t< DataType >::normalize_weights ( )

inline

归一化权重，使其总和为1 / Normalize weights to sum to 1

Friends And Related Symbol Documentation

base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >

template<typename DataType >

friend class base_correspondence_sorter_t< combined_sorter_t< DataType >, DataType >

friend

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

• src/include/cpp-toolbox/pcl/correspondence/combined_sorter.hpp