4PCS（4-Point Congruent Sets）粗配准算法 / 4PCS coarse registration algorithm More...

#include <four_pcs_registration.hpp>

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

Classes
struct	base_4pcs_t
	4点基结构 / 4-point base structure More...

struct	candidate_t
	候选匹配结构 / Candidate match structure More...

Public Types
using	base_type = base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >

using	transformation_t = Eigen::Matrix< DataType, 4, 4 >

using	vector3_t = Eigen::Matrix< DataType, 3, 1 >

using	matrix3_t = Eigen::Matrix< DataType, 3, 3 >

using	kdtree_t = toolbox::pcl::kdtree_t< DataType >

Public Types inherited from toolbox::pcl::base_coarse_registration_t< four_pcs_registration_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	result_type = registration_result_t< DataType >

Public Member Functions
	four_pcs_registration_t ()=default

	~four_pcs_registration_t ()=default

void	set_delta (DataType delta)
	设置配准精度delta / Set registration accuracy delta

DataType	get_delta () const
	获取配准精度 / Get registration accuracy

void	set_overlap (DataType overlap)
	设置重叠率估计 / Set overlap ratio estimate

DataType	get_overlap () const
	获取重叠率 / Get overlap ratio

void	set_sample_size (std::size_t size)
	设置采样点数 / Set number of points to sample

std::size_t	get_sample_size () const
	获取采样点数 / Get sample size

void	set_use_normals (bool use_normals)
	设置是否使用法向量信息 / Set whether to use normal information

bool	get_use_normals () const
	获取是否使用法向量 / Get whether using normals

void	set_max_normal_angle (DataType angle)
	设置最大法向量偏差角度 / Set maximum normal deviation angle

DataType	get_max_normal_angle () const
	获取最大法向量偏差角度 / Get maximum normal deviation angle

void	set_num_bases (std::size_t num_bases)
	设置基的数量 / Set number of bases to try

std::size_t	get_num_bases () const
	获取基的数量 / Get number of bases

Public Member Functions inherited from toolbox::pcl::base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >
	base_coarse_registration_t ()=default

	base_coarse_registration_t (const base_coarse_registration_t &)=delete

	base_coarse_registration_t (base_coarse_registration_t &&)=default

virtual	~base_coarse_registration_t ()=default

base_coarse_registration_t &	operator= (const base_coarse_registration_t &)=delete

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
bool	align_impl (result_type &result)
	派生类实现的配准算法 / Registration algorithm implementation

std::string	get_algorithm_name_impl () const
	获取算法名称实现 / Get algorithm name implementation

bool	validate_input_impl () const
	额外的输入验证 / Additional input validation

void	set_source_impl (const point_cloud_ptr &source)
	钩子函数：设置源点云时的处理 / Hook: processing when setting source cloud

void	set_target_impl (const point_cloud_ptr &target)
	钩子函数：设置目标点云时的处理 / Hook: processing when setting target cloud

const std::shared_ptr< kdtree_t > &	get_target_kdtree () const
	获取受保护的成员 / Get protected members

const std::vector< std::size_t > &	get_source_samples () const

const std::vector< std::size_t > &	get_target_samples () const

void	sample_points (const point_cloud_ptr &cloud, std::size_t num_samples, std::vector< std::size_t > &indices)
	采样点云 / Sample point cloud

bool	are_coplanar (const std::array< vector3_t, 4 > &points, DataType tolerance) const
	检查4个点是否共面 / Check if 4 points are coplanar

void	compute_invariants (base_4pcs_t &base) const
	计算4点基的仿射不变量 / Compute affine invariants for 4-point base

transformation_t	estimate_transformation (const base_4pcs_t &source_base, const base_4pcs_t &target_base) const
	估计两个4点基之间的变换 / Estimate transformation between two 4-point bases

DataType	compute_lcp_score (const transformation_t &transform, std::vector< std::size_t > &inliers) const
	计算LCP（最大公共点集）评分 / Compute LCP (Largest Common Pointset) score

void	refine_candidate (candidate_t &candidate) const
	精炼候选变换 / Refine candidate transformation

std::vector< base_4pcs_t >	extract_coplanar_bases (const std::vector< std::size_t > &indices, const point_cloud_ptr &cloud, std::size_t num_bases) const
	提取共面4点基 / Extract coplanar 4-point bases

std::vector< base_4pcs_t >	find_congruent_sets (const base_4pcs_t &source_base, const std::vector< std::size_t > &target_indices, const point_cloud_ptr &target_cloud) const
	寻找匹配的4点集 / Find congruent 4-point sets

bool	is_valid_transformation (const transformation_t &transform) const
	验证变换的有效性 / Verify transformation validity

Protected Member Functions inherited from toolbox::pcl::base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >
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

Friends
class	base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >

Detailed Description

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

4PCS（4-Point Congruent Sets）粗配准算法 / 4PCS coarse registration algorithm

4PCS是一种鲁棒的点云配准算法，通过寻找两个点云中的共面4点集合来估计刚体变换。该算法对噪声和部分重叠具有良好的鲁棒性。 4PCS is a robust point cloud registration algorithm that estimates rigid transformation by finding coplanar 4-point sets in two point clouds. It is robust to noise and partial overlap.

Template Parameters

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

// 使用示例 / Usage example
four_pcs_registration_t<float> fourpcs;
fourpcs.set_source(source_cloud);
fourpcs.set_target(target_cloud);
fourpcs.set_delta(0.01f);          // 配准精度 1cm
fourpcs.set_overlap(0.4f);         // 40%重叠
fourpcs.set_sample_size(200);      // 采样200个点
 
registration_result_t<float> result;
if (fourpcs.align(result)) {
    std::cout << "Registration successful!" << std::endl;
}

Member Typedef Documentation

◆ base_type

template<typename DataType >

using toolbox::pcl::four_pcs_registration_t< DataType >::base_type = base_coarse_registration_t<four_pcs_registration_t<DataType>, DataType>

◆ kdtree_t

template<typename DataType >

using toolbox::pcl::four_pcs_registration_t< DataType >::kdtree_t = toolbox::pcl::kdtree_t<DataType>

◆ matrix3_t

template<typename DataType >

using toolbox::pcl::four_pcs_registration_t< DataType >::matrix3_t = Eigen::Matrix<DataType, 3, 3>

◆ transformation_t

template<typename DataType >

using toolbox::pcl::four_pcs_registration_t< DataType >::transformation_t = Eigen::Matrix<DataType, 4, 4>

◆ vector3_t

template<typename DataType >

using toolbox::pcl::four_pcs_registration_t< DataType >::vector3_t = Eigen::Matrix<DataType, 3, 1>

Constructor & Destructor Documentation

◆ four_pcs_registration_t()

template<typename DataType >

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

default

◆ ~four_pcs_registration_t()

template<typename DataType >

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

default

Member Function Documentation

◆ align_impl()

template<typename DataType >

bool toolbox::pcl::four_pcs_registration_t< DataType >::align_impl ( result_type & result )

protected

派生类实现的配准算法 / Registration algorithm implementation

Parameters

result [out] 配准结果 / Registration result

Returns: 是否成功 / Whether successful

◆ are_coplanar()

template<typename DataType >

bool toolbox::pcl::four_pcs_registration_t< DataType >::are_coplanar	(	const std::array< vector3_t, 4 > &	points,
		DataType	tolerance
	)		const

protected

检查4个点是否共面 / Check if 4 points are coplanar

Parameters

points	4个点 / 4 points
tolerance	容差 / Tolerance

Returns: 是否共面 / Whether coplanar

◆ compute_invariants()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::compute_invariants ( base_4pcs_t & base ) const

protected

计算4点基的仿射不变量 / Compute affine invariants for 4-point base

Parameters

base	[in/out] 4点基 / 4-point base

◆ compute_lcp_score()

template<typename DataType >

DataType toolbox::pcl::four_pcs_registration_t< DataType >::compute_lcp_score	(	const transformation_t &	transform,
		std::vector< std::size_t > &	inliers
	)		const

protected

计算LCP（最大公共点集）评分 / Compute LCP (Largest Common Pointset) score

Parameters

transform	变换矩阵 / Transformation matrix
inliers	[out] 内点索引 / Inlier indices

Returns: LCP评分 / LCP score

◆ estimate_transformation()

template<typename DataType >

four_pcs_registration_t< DataType >::transformation_t toolbox::pcl::four_pcs_registration_t< DataType >::estimate_transformation	(	const base_4pcs_t &	source_base,
		const base_4pcs_t &	target_base
	)		const

protected

估计两个4点基之间的变换 / Estimate transformation between two 4-point bases

Parameters

source_base	源基 / Source base
target_base	目标基 / Target base

Returns: 变换矩阵 / Transformation matrix

◆ extract_coplanar_bases()

template<typename DataType >

std::vector< typename four_pcs_registration_t< DataType >::base_4pcs_t > toolbox::pcl::four_pcs_registration_t< DataType >::extract_coplanar_bases	(	const std::vector< std::size_t > &	indices,
		const point_cloud_ptr &	cloud,
		std::size_t	num_bases
	)		const

protected

提取共面4点基 / Extract coplanar 4-point bases

Parameters

indices	点索引 / Point indices
cloud	点云 / Point cloud
num_bases	要提取的基数量 / Number of bases to extract

Returns: 4点基列表 / List of 4-point bases

◆ find_congruent_sets()

template<typename DataType >

std::vector< typename four_pcs_registration_t< DataType >::base_4pcs_t > toolbox::pcl::four_pcs_registration_t< DataType >::find_congruent_sets	(	const base_4pcs_t &	source_base,
		const std::vector< std::size_t > &	target_indices,
		const point_cloud_ptr &	target_cloud
	)		const

protected

寻找匹配的4点集 / Find congruent 4-point sets

Parameters

source_base	源基 / Source base
target_indices	目标点索引 / Target point indices
target_cloud	目标点云 / Target point cloud

Returns: 匹配的基列表 / List of congruent bases

◆ get_algorithm_name_impl()

template<typename DataType >

std::string toolbox::pcl::four_pcs_registration_t< DataType >::get_algorithm_name_impl ( ) const

inlineprotected

获取算法名称实现 / Get algorithm name implementation

Returns: 算法名称 / Algorithm name

◆ get_delta()

template<typename DataType >

DataType toolbox::pcl::four_pcs_registration_t< DataType >::get_delta ( ) const

inline

获取配准精度 / Get registration accuracy

Returns: 配准精度 / Registration accuracy

◆ get_max_normal_angle()

template<typename DataType >

DataType toolbox::pcl::four_pcs_registration_t< DataType >::get_max_normal_angle ( ) const

inline

获取最大法向量偏差角度 / Get maximum normal deviation angle

Returns: 最大角度 / Maximum angle

◆ get_num_bases()

template<typename DataType >

std::size_t toolbox::pcl::four_pcs_registration_t< DataType >::get_num_bases ( ) const

inline

获取基的数量 / Get number of bases

Returns: 基的数量 / Number of bases

◆ get_overlap()

template<typename DataType >

DataType toolbox::pcl::four_pcs_registration_t< DataType >::get_overlap ( ) const

inline

获取重叠率 / Get overlap ratio

Returns: 重叠率 / Overlap ratio

◆ get_sample_size()

template<typename DataType >

std::size_t toolbox::pcl::four_pcs_registration_t< DataType >::get_sample_size ( ) const

inline

获取采样点数 / Get sample size

Returns: 采样点数 / Sample size

◆ get_source_samples()

template<typename DataType >

const std::vector< std::size_t > & toolbox::pcl::four_pcs_registration_t< DataType >::get_source_samples ( ) const

inlineprotected

◆ get_target_kdtree()

template<typename DataType >

const std::shared_ptr< kdtree_t > & toolbox::pcl::four_pcs_registration_t< DataType >::get_target_kdtree ( ) const

inlineprotected

获取受保护的成员 / Get protected members

◆ get_target_samples()

template<typename DataType >

const std::vector< std::size_t > & toolbox::pcl::four_pcs_registration_t< DataType >::get_target_samples ( ) const

inlineprotected

◆ get_use_normals()

template<typename DataType >

bool toolbox::pcl::four_pcs_registration_t< DataType >::get_use_normals ( ) const

inline

获取是否使用法向量 / Get whether using normals

Returns: 是否使用法向量 / Whether using normals

◆ is_valid_transformation()

template<typename DataType >

bool toolbox::pcl::four_pcs_registration_t< DataType >::is_valid_transformation ( const transformation_t & transform ) const

protected

验证变换的有效性 / Verify transformation validity

Parameters

transform 变换矩阵 / Transformation matrix

Returns: 是否有效 / Whether valid

◆ refine_candidate()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::refine_candidate ( candidate_t & candidate ) const

protected

精炼候选变换 / Refine candidate transformation

Parameters

candidate [in/out] 候选匹配 / Candidate match

◆ sample_points()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::sample_points	(	const point_cloud_ptr &	cloud,
		std::size_t	num_samples,
		std::vector< std::size_t > &	indices
	)

protected

采样点云 / Sample point cloud

Parameters

cloud	输入点云 / Input point cloud
num_samples	采样数量 / Number of samples
indices	[out] 采样的索引 / Sampled indices

◆ set_delta()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_delta ( DataType delta )

inline

设置配准精度delta / Set registration accuracy delta

Parameters

delta 期望的配准精度 / Desired registration accuracy

◆ set_max_normal_angle()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_max_normal_angle ( DataType angle )

inline

设置最大法向量偏差角度 / Set maximum normal deviation angle

Parameters

angle 最大角度（弧度） / Maximum angle (radians)

◆ set_num_bases()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_num_bases ( std::size_t num_bases )

inline

设置基的数量 / Set number of bases to try

Parameters

num_bases 基的数量 / Number of bases

◆ set_overlap()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_overlap ( DataType overlap )

inline

设置重叠率估计 / Set overlap ratio estimate

Parameters

overlap 重叠率（0到1之间） / Overlap ratio (between 0 and 1)

◆ set_sample_size()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_sample_size ( std::size_t size )

inline

设置采样点数 / Set number of points to sample

Parameters

size	采样点数 / Number of points to sample

◆ set_source_impl()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_source_impl ( const point_cloud_ptr & source )

protected

钩子函数：设置源点云时的处理 / Hook: processing when setting source cloud

◆ set_target_impl()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_target_impl ( const point_cloud_ptr & target )

protected

钩子函数：设置目标点云时的处理 / Hook: processing when setting target cloud

◆ set_use_normals()

template<typename DataType >

void toolbox::pcl::four_pcs_registration_t< DataType >::set_use_normals ( bool use_normals )

inline

设置是否使用法向量信息 / Set whether to use normal information

Parameters

use_normals true使用法向量，false不使用 / true to use normals, false otherwise

◆ validate_input_impl()

template<typename DataType >

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

protected

额外的输入验证 / Additional input validation

Returns: 是否有效 / Whether valid

Friends And Related Symbol Documentation

◆ base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >

template<typename DataType >

friend class base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >

friend

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

src/include/cpp-toolbox/pcl/registration/four_pcs_registration.hpp
src/include/cpp-toolbox/pcl/registration/impl/four_pcs_registration_impl.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ base_type

◆ kdtree_t

◆ matrix3_t

◆ transformation_t

◆ vector3_t

Constructor & Destructor Documentation

◆ four_pcs_registration_t()

◆ ~four_pcs_registration_t()

Member Function Documentation

◆ align_impl()

◆ are_coplanar()

◆ compute_invariants()

◆ compute_lcp_score()

◆ estimate_transformation()

◆ extract_coplanar_bases()

◆ find_congruent_sets()

◆ get_algorithm_name_impl()

◆ get_delta()

◆ get_max_normal_angle()

◆ get_num_bases()

◆ get_overlap()

◆ get_sample_size()

◆ get_source_samples()

◆ get_target_kdtree()

◆ get_target_samples()

◆ get_use_normals()

◆ is_valid_transformation()

◆ refine_candidate()

◆ sample_points()

◆ set_delta()

◆ set_max_normal_angle()

◆ set_num_bases()

◆ set_overlap()

◆ set_sample_size()

◆ set_source_impl()

◆ set_target_impl()

◆ set_use_normals()

◆ validate_input_impl()

Friends And Related Symbol Documentation

◆ base_coarse_registration_t< four_pcs_registration_t< DataType >, DataType >