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

基于几何一致性的对应关系排序器 / Geometric consistency-based correspondence sorter More...

#include <geometric_consistency_sorter.hpp>

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

Public Types
using	base_type = base_correspondence_sorter_t< geometric_consistency_sorter_t< DataType >, DataType >
Public Types inherited from toolbox::pcl::base_correspondence_sorter_t< geometric_consistency_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
	geometric_consistency_sorter_t ()=default
	~geometric_consistency_sorter_t ()=default
void	set_neighborhood_size (std::size_t size)
	设置用于评估的邻域大小 / Set neighborhood size for evaluation
std::size_t	get_neighborhood_size () const
	获取邻域大小 / Get neighborhood size
void	set_distance_ratio_threshold (DataType threshold)
	设置距离比率阈值 / Set distance ratio threshold
DataType	get_distance_ratio_threshold () const
	获取距离比率阈值 / Get distance ratio threshold
void	set_random_sampling (bool random)
	设置采样策略 / Set sampling strategy
bool	get_random_sampling () const
	获取是否使用随机采样 / Get whether to use random sampling
Public Member Functions inherited from toolbox::pcl::base_correspondence_sorter_t< geometric_consistency_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
bool	validate_input_impl () const
	验证输入数据的实现 / Implementation of input validation
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< geometric_consistency_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< geometric_consistency_sorter_t< DataType >, DataType >

Additional Inherited Members
Protected Attributes inherited from toolbox::pcl::base_correspondence_sorter_t< geometric_consistency_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::geometric_consistency_sorter_t< DataType >

基于几何一致性的对应关系排序器 / Geometric consistency-based correspondence sorter

该排序器通过检查对应关系之间的几何关系保持程度来评估质量。 如果源点云中两点之间的距离与目标点云中对应两点之间的距离相似， 则认为这些对应关系具有高几何一致性。 This sorter evaluates quality by checking how well geometric relationships are preserved between correspondences. If the distance between two points in the source cloud is similar to the distance between the corresponding two points in the target cloud, these correspondences are considered to have high geometric consistency.

Template Parameters

DataType

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

Member Typedef Documentation

base_type

template<typename DataType >

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

Constructor & Destructor Documentation

geometric_consistency_sorter_t()

template<typename DataType >

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

default

~geometric_consistency_sorter_t()

template<typename DataType >

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

default

Member Function Documentation

compute_quality_scores_impl()

template<typename DataType >

void toolbox::pcl::geometric_consistency_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_distance_ratio_threshold()

template<typename DataType >

DataType toolbox::pcl::geometric_consistency_sorter_t< DataType >::get_distance_ratio_threshold ( ) const

inline

获取距离比率阈值 / Get distance ratio threshold

Returns

距离比率阈值 / Distance ratio threshold

get_neighborhood_size()

template<typename DataType >

std::size_t toolbox::pcl::geometric_consistency_sorter_t< DataType >::get_neighborhood_size ( ) const

inline

获取邻域大小 / Get neighborhood size

Returns

邻域大小 / Neighborhood size

get_random_sampling()

template<typename DataType >

bool toolbox::pcl::geometric_consistency_sorter_t< DataType >::get_random_sampling ( ) const

inline

获取是否使用随机采样 / Get whether to use random sampling

Returns

是否随机采样 / Whether to use random sampling

get_sorter_name_impl()

template<typename DataType >

std::string toolbox::pcl::geometric_consistency_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_distance_ratio_threshold()

template<typename DataType >

void toolbox::pcl::geometric_consistency_sorter_t< DataType >::set_distance_ratio_threshold ( DataType  threshold )

inline

设置距离比率阈值 / Set distance ratio threshold

Parameters

threshold

阈值（例如0.2表示20的距离变化容忍度） / Threshold (e.g., 0.2 means 20% distance variation tolerance)

set_neighborhood_size()

template<typename DataType >

void toolbox::pcl::geometric_consistency_sorter_t< DataType >::set_neighborhood_size ( std::size_t  size )

inline

设置用于评估的邻域大小 / Set neighborhood size for evaluation

Parameters

size	邻域大小（要检查的其他对应关系数量） / Neighborhood size (number of other correspondences to check)

set_random_sampling()

template<typename DataType >

void toolbox::pcl::geometric_consistency_sorter_t< DataType >::set_random_sampling ( bool  random )

inline

设置采样策略 / Set sampling strategy

Parameters

random

true使用随机采样，false使用最近的邻域 / true for random sampling, false for nearest neighbors

validate_input_impl()

template<typename DataType >

bool toolbox::pcl::geometric_consistency_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< geometric_consistency_sorter_t< DataType >, DataType >

template<typename DataType >

friend class base_correspondence_sorter_t< geometric_consistency_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/geometric_consistency_sorter.hpp