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

自定义函数的对应关系排序器 / Custom function-based correspondence sorter More...

#include <custom_function_sorter.hpp>

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

Public Types
using	base_type = base_correspondence_sorter_t< custom_function_sorter_t< DataType >, DataType >
using	quality_function_t = std::function< DataType(const correspondence_t &correspondence, std::size_t index, const point_cloud &source_cloud, const point_cloud &target_cloud)>
	质量函数类型定义 / Quality function type definition
using	simple_quality_function_t = std::function< DataType(const correspondence_t &correspondence)>
	简化的质量函数类型（仅基于对应关系） / Simplified quality function type (based on correspondence only)
Public Types inherited from toolbox::pcl::base_correspondence_sorter_t< custom_function_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
	custom_function_sorter_t ()=default
	~custom_function_sorter_t ()=default
void	set_quality_function (quality_function_t func)
	设置自定义质量函数 / Set custom quality function
void	set_simple_quality_function (simple_quality_function_t func)
	设置简化的质量函数（仅基于对应关系） / Set simplified quality function (based on correspondence only)
bool	has_quality_function () const
	检查是否设置了质量函数 / Check if quality function is set
Public Member Functions inherited from toolbox::pcl::base_correspondence_sorter_t< custom_function_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
bool	validate_input_impl () const
	验证输入数据的实现 / Implementation of input validation
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< custom_function_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< custom_function_sorter_t< DataType >, DataType >

Additional Inherited Members
Protected Attributes inherited from toolbox::pcl::base_correspondence_sorter_t< custom_function_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::custom_function_sorter_t< DataType >

自定义函数的对应关系排序器 / Custom function-based correspondence sorter

该排序器允许用户提供自定义的质量评估函数。 This sorter allows users to provide custom quality evaluation functions.

Template Parameters

DataType

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

// 使用示例 / Usage example
custom_function_sorter_t<float> sorter;
 
// 设置自定义质量函数 / Set custom quality function
sorter.set_quality_function(
    [](const correspondence_t& corr,
       std::size_t corr_idx,
       const point_cloud<float>& src,
       const point_cloud<float>& tgt) -> float {
        // 自定义质量计算 / Custom quality computation
        float desc_quality = 1.0f - (corr.distance / 100.0f);
 
        // 可以访问点云数据进行更复杂的计算 / Can access point cloud data for
more complex computation const auto& src_point = src.points[corr.src_idx];
        const auto& tgt_point = tgt.points[corr.dst_idx];
 
        // 例如：考虑法向量一致性 / Example: consider normal consistency
        // float normal_dot = src_point.normal.dot(tgt_point.normal);
 
        return desc_quality;
    });
 
auto scores = sorter.compute_quality_scores();

Member Typedef Documentation

base_type

template<typename DataType >

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

quality_function_t

template<typename DataType >

using toolbox::pcl::custom_function_sorter_t< DataType >::quality_function_t = std::function<DataType( const correspondence_t& correspondence, std::size_t index, const point_cloud& source_cloud, const point_cloud& target_cloud)>

质量函数类型定义 / Quality function type definition

参数 / Parameters:

• correspondence: 对应关系 / Correspondence
• index: 对应关系在数组中的索引 / Index of correspondence in array
• source_cloud: 源点云 / Source point cloud
• target_cloud: 目标点云 / Target point cloud 返回值 / Return: 质量分数 / Quality score

simple_quality_function_t

template<typename DataType >

using toolbox::pcl::custom_function_sorter_t< DataType >::simple_quality_function_t = std::function<DataType(const correspondence_t& correspondence)>

简化的质量函数类型（仅基于对应关系） / Simplified quality function type (based on correspondence only)

Constructor & Destructor Documentation

custom_function_sorter_t()

template<typename DataType >

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

default

~custom_function_sorter_t()

template<typename DataType >

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

default

Member Function Documentation

compute_quality_scores_impl()

template<typename DataType >

void toolbox::pcl::custom_function_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_sorter_name_impl()

template<typename DataType >

std::string toolbox::pcl::custom_function_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

has_quality_function()

template<typename DataType >

bool toolbox::pcl::custom_function_sorter_t< DataType >::has_quality_function ( ) const

inline

检查是否设置了质量函数 / Check if quality function is set

Returns

是否已设置 / Whether set

set_quality_function()

template<typename DataType >

void toolbox::pcl::custom_function_sorter_t< DataType >::set_quality_function ( quality_function_t  func )

inline

设置自定义质量函数 / Set custom quality function

Parameters

func	质量函数 / Quality function

set_simple_quality_function()

template<typename DataType >

void toolbox::pcl::custom_function_sorter_t< DataType >::set_simple_quality_function ( simple_quality_function_t  func )

inline

设置简化的质量函数（仅基于对应关系） / Set simplified quality function (based on correspondence only)

Parameters

func	简化的质量函数 / Simplified quality function

validate_input_impl()

template<typename DataType >

bool toolbox::pcl::custom_function_sorter_t< DataType >::validate_input_impl ( ) const

inlineprotected

验证输入数据的实现 / Implementation of input validation

Returns

是否有效 / Whether valid

Friends And Related Symbol Documentation

base_correspondence_sorter_t< custom_function_sorter_t< DataType >, DataType >

template<typename DataType >

friend class base_correspondence_sorter_t< custom_function_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/custom_function_sorter.hpp