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

基于描述子距离的对应关系排序器 / Descriptor distance-based correspondence sorter More...

#include <descriptor_distance_sorter.hpp>

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

Public Types
using	base_type = base_correspondence_sorter_t< descriptor_distance_sorter_t< DataType >, DataType >
Public Types inherited from toolbox::pcl::base_correspondence_sorter_t< descriptor_distance_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
	descriptor_distance_sorter_t ()=default
	~descriptor_distance_sorter_t ()=default
void	set_invert_score (bool invert)
	设置是否反转分数（距离越小质量越高） / Set whether to invert score (smaller distance means higher quality)
bool	get_invert_score () const
	获取是否反转分数 / Get whether to invert score
void	set_normalize (bool normalize)
	设置归一化方式 / Set normalization method
bool	get_normalize () const
	获取是否归一化 / Get whether to normalize
Public Member Functions inherited from toolbox::pcl::base_correspondence_sorter_t< descriptor_distance_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< descriptor_distance_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< descriptor_distance_sorter_t< DataType >, DataType >

Additional Inherited Members
Protected Attributes inherited from toolbox::pcl::base_correspondence_sorter_t< descriptor_distance_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::descriptor_distance_sorter_t< DataType >

基于描述子距离的对应关系排序器 / Descriptor distance-based correspondence sorter

该排序器使用对应关系中的描述子距离作为质量度量。 可以选择是否反转分数（距离越小质量越高）。 This sorter uses descriptor distance in correspondences as quality measure. Can optionally invert the score (smaller distance means higher quality).

Template Parameters

DataType

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

// 使用示例 / Usage example
descriptor_distance_sorter_t<float> sorter;
sorter.set_invert_score(true);  // 距离越小，质量越高 / Smaller distance,
higher quality sorter.set_correspondences(correspondences); auto scores =
sorter.compute_quality_scores();

Member Typedef Documentation

base_type

template<typename DataType >

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

Constructor & Destructor Documentation

descriptor_distance_sorter_t()

template<typename DataType >

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

default

~descriptor_distance_sorter_t()

template<typename DataType >

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

default

Member Function Documentation

compute_quality_scores_impl()

template<typename DataType >

void toolbox::pcl::descriptor_distance_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_invert_score()

template<typename DataType >

bool toolbox::pcl::descriptor_distance_sorter_t< DataType >::get_invert_score ( ) const

inline

获取是否反转分数 / Get whether to invert score

Returns

是否反转 / Whether to invert

get_normalize()

template<typename DataType >

bool toolbox::pcl::descriptor_distance_sorter_t< DataType >::get_normalize ( ) const

inline

获取是否归一化 / Get whether to normalize

Returns

是否归一化 / Whether to normalize

get_sorter_name_impl()

template<typename DataType >

std::string toolbox::pcl::descriptor_distance_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

set_invert_score()

template<typename DataType >

void toolbox::pcl::descriptor_distance_sorter_t< DataType >::set_invert_score ( bool  invert )

inline

设置是否反转分数（距离越小质量越高） / Set whether to invert score (smaller distance means higher quality)

Parameters

invert

true表示反转，false表示不反转 / true to invert, false not to invert

set_normalize()

template<typename DataType >

void toolbox::pcl::descriptor_distance_sorter_t< DataType >::set_normalize ( bool  normalize )

inline

设置归一化方式 / Set normalization method

Parameters

normalize

true启用归一化，false禁用 / true to enable normalization, false to disable

Friends And Related Symbol Documentation

base_correspondence_sorter_t< descriptor_distance_sorter_t< DataType >, DataType >

template<typename DataType >

friend class base_correspondence_sorter_t< descriptor_distance_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/descriptor_distance_sorter.hpp