toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN > Class Template Reference

基于KNN的对应点生成器 / KNN-based correspondence generator More...

#include <knn_correspondence_generator.hpp>

Inheritance diagram for toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >:

Public Types
using	base_type = base_correspondence_generator_t< knn_correspondence_generator_t< DataType, Signature, KNN >, DataType, Signature >
Public Types inherited from toolbox::pcl::base_correspondence_generator_t< knn_correspondence_generator_t< DataType, Signature, KNN >, DataType, Signature >
using	point_cloud = toolbox::types::point_cloud_t< DataType >
using	point_cloud_ptr = std::shared_ptr< point_cloud >
using	signatures_ptr = std::shared_ptr< std::vector< Signature > >
using	keypoint_indices_ptr = std::shared_ptr< std::vector< std::size_t > >

Public Member Functions
void	set_knn (std::shared_ptr< KNN > knn)
	设置KNN搜索算法 / Set KNN search algorithm
std::shared_ptr< KNN >	get_knn () const
	获取KNN搜索算法 / Get KNN search algorithm
void	compute_impl (std::vector< correspondence_t > &correspondences)
	计算对应关系的实现 / Implementation of computing correspondences
Public Member Functions inherited from toolbox::pcl::base_correspondence_generator_t< knn_correspondence_generator_t< DataType, Signature, KNN >, DataType, Signature >
	base_correspondence_generator_t ()=default
	base_correspondence_generator_t (const base_correspondence_generator_t &)=delete
	base_correspondence_generator_t (base_correspondence_generator_t &&)=default
virtual	~base_correspondence_generator_t ()=default
base_correspondence_generator_t &	operator= (const base_correspondence_generator_t &)=delete
base_correspondence_generator_t &	operator= (base_correspondence_generator_t &&)=default
void	set_source (const point_cloud_ptr &src_cloud, const signatures_ptr &src_descriptors, const keypoint_indices_ptr &src_keypoint_indices)
	设置源数据 / Set source data
void	set_destination (const point_cloud_ptr &dst_cloud, const signatures_ptr &dst_descriptors, const keypoint_indices_ptr &dst_keypoint_indices)
	设置目标数据 / Set destination data
void	set_ratio (float ratio)
	设置比率测试阈值 / Set ratio test threshold
float	get_ratio () const
	获取比率测试阈值 / Get ratio test threshold
void	set_mutual_verification (bool mutual_verification)
	设置是否启用双向验证 / Set whether to enable mutual verification
bool	get_mutual_verification () const
	获取是否启用双向验证 / Get whether mutual verification is enabled
void	set_distance_threshold (float distance_threshold)
	设置距离阈值 / Set distance threshold
float	get_distance_threshold () const
	获取距离阈值 / Get distance threshold
void	compute (std::vector< correspondence_t > &correspondences)
	计算对应关系 / Compute correspondences
std::string	get_statistics () const
	获取最后一次计算的统计信息 / Get statistics from last computation

Additional Inherited Members
Protected Member Functions inherited from toolbox::pcl::base_correspondence_generator_t< knn_correspondence_generator_t< DataType, Signature, KNN >, DataType, Signature >
bool	validate_input () const
	验证输入数据的有效性 / Validate input data
bool	apply_ratio_test (const std::vector< correspondence_t > &candidates) const
	应用比率测试 / Apply ratio test
void	apply_distance_threshold (std::vector< correspondence_t > &correspondences) const
	应用距离阈值过滤 / Apply distance threshold filtering
float	compute_geometric_consistency (const std::vector< correspondence_t > &correspondences) const
	计算几何一致性分数（简单验证） / Compute geometric consistency score (simple verification)
void	reset_statistics ()
	重置统计信息 / Reset statistics
Protected Attributes inherited from toolbox::pcl::base_correspondence_generator_t< knn_correspondence_generator_t< DataType, Signature, KNN >, DataType, Signature >
point_cloud_ptr	m_src_cloud
point_cloud_ptr	m_dst_cloud
signatures_ptr	m_src_descriptors
signatures_ptr	m_dst_descriptors
keypoint_indices_ptr	m_src_keypoint_indices
keypoint_indices_ptr	m_dst_keypoint_indices
float	m_ratio
	比率测试阈值 / Ratio test threshold
float	m_distance_threshold
	距离阈值 / Distance threshold
bool	m_mutual_verification
	是否启用双向验证 / Whether to enable mutual verification
std::size_t	m_total_candidates
std::size_t	m_ratio_test_passed
std::size_t	m_mutual_test_passed
std::size_t	m_distance_test_passed

Detailed Description

template<typename DataType, typename Signature, typename KNN>
class toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >

基于KNN的对应点生成器 / KNN-based correspondence generator

使用KNN算法在描述子空间中快速查找对应点，支持多种验证策略 Uses KNN algorithm to quickly find correspondences in descriptor space, supporting various verification strategies

Template Parameters

DataType	数据类型（如float或double） / Data type (e.g., float or double)
Signature	描述子签名类型 / Descriptor signature type
KNN	KNN搜索算法类型 / KNN search algorithm type

// 使用示例 / Usage example
using CorrespondenceGen = knn_correspondence_generator_t<float, fpfh_signature_t<float>, 
                                                         bfknn_generic_t<fpfh_signature_t<float>, 
                                                                        FPFHMetric<float>>>;
 
CorrespondenceGen corr_gen;
 
// 设置KNN算法 / Set KNN algorithm
auto knn = std::make_shared<bfknn_generic_t<fpfh_signature_t<float>, FPFHMetric<float>>>();
corr_gen.set_knn(knn);
 
// 设置数据和参数 / Set data and parameters
corr_gen.set_source(src_cloud, src_descriptors, src_keypoints);
corr_gen.set_destination(dst_cloud, dst_descriptors, dst_keypoints);
corr_gen.set_ratio(0.8f);
corr_gen.set_mutual_verification(true);
 
// 计算对应关系 / Compute correspondences
std::vector<correspondence_t> correspondences;
corr_gen.compute(correspondences);

Member Typedef Documentation

base_type

template<typename DataType , typename Signature , typename KNN >

using toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >::base_type = base_correspondence_generator_t< knn_correspondence_generator_t<DataType, Signature, KNN>, DataType, Signature>

Member Function Documentation

compute_impl()

template<typename DataType , typename Signature , typename KNN >

void toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >::compute_impl

(

std::vector< correspondence_t > &

correspondences

)

计算对应关系的实现 / Implementation of computing correspondences

Parameters

correspondences

[out] 输出的对应关系 / Output correspondences

get_knn()

template<typename DataType , typename Signature , typename KNN >

std::shared_ptr< KNN > toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >::get_knn ( ) const

inline

获取KNN搜索算法 / Get KNN search algorithm

Returns

KNN算法的共享指针 / Shared pointer to KNN algorithm

set_knn()

template<typename DataType , typename Signature , typename KNN >

void toolbox::pcl::knn_correspondence_generator_t< DataType, Signature, KNN >::set_knn ( std::shared_ptr< KNN >  knn )

inline

设置KNN搜索算法 / Set KNN search algorithm

Parameters

knn	KNN算法的共享指针 / Shared pointer to KNN algorithm

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

• src/include/cpp-toolbox/pcl/correspondence/knn_correspondence_generator.hpp
• src/include/cpp-toolbox/pcl/correspondence/impl/knn_correspondence_generator_impl.hpp