Super4PCS 粗配准算法 / Super4PCS coarse registration algorithm. More...

#include <super_four_pcs_registration.hpp>

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

Classes
struct	grid_cell_t
	3D网格单元 / 3D grid cell More...

struct	point_pair_t
	点对结构 / Point pair structure More...

class	smart_index_t
	智能索引结构 / Smart index structure More...

Public Types
using	base_type = four_pcs_registration_t< 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 >

Public Types inherited from toolbox::pcl::four_pcs_registration_t< DataType >
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
	super_four_pcs_registration_t ()=default

	~super_four_pcs_registration_t ()=default

void	set_grid_resolution (DataType resolution)
	设置网格分辨率 / Set grid resolution

DataType	get_grid_resolution () const
	获取网格分辨率 / Get grid resolution

void	enable_smart_indexing (bool enable)
	启用/禁用智能索引 / Enable/disable smart indexing

bool	is_smart_indexing_enabled () const
	获取是否使用智能索引 / Get whether using smart indexing

void	set_pair_distance_epsilon (DataType epsilon)
	设置点对距离容差 / Set pair distance tolerance

DataType	get_pair_distance_epsilon () const
	获取点对距离容差 / Get pair distance tolerance

Public Member Functions inherited from toolbox::pcl::four_pcs_registration_t< DataType >
	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
std::string	get_algorithm_name_impl () const
	获取算法名称实现 / Get algorithm name implementation

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

std::vector< base_4pcs_t >	find_congruent_sets_optimized (const base_4pcs_t &source_base) const
	寻找匹配的4点集（优化版本） / Find congruent sets (optimized version)

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

class	four_pcs_registration_t< DataType >

Detailed Description

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

Super4PCS 粗配准算法 / Super4PCS coarse registration algorithm.

Super4PCS是4PCS的改进版本，通过智能索引技术将时间复杂度从O(n²)降低到O(n)。主要改进包括：

基于网格的空间索引，实现快速点对查找
优化的匹配策略，减少不必要的计算
更好的可扩展性，能处理百万级点云

Super4PCS is an improved version of 4PCS that reduces time complexity from O(n²) to O(n) through smart indexing. Key improvements include:

Grid-based spatial indexing for fast pair extraction
Optimized matching strategy to reduce unnecessary computations
Better scalability for million-point clouds

Template Parameters

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

// 使用示例 / Usage example
super_four_pcs_registration_t<float> super4pcs;
super4pcs.set_source(source_cloud);
super4pcs.set_target(target_cloud);
super4pcs.set_delta(0.01f);           // 1cm精度
super4pcs.set_overlap(0.3f);          // 30%重叠（Super4PCS可处理更低重叠）
super4pcs.enable_smart_indexing(true); // 启用智能索引
 
registration_result_t<float> result;
if (super4pcs.align(result)) {
    std::cout << "Super4PCS registration successful!" << std::endl;
}

Member Typedef Documentation

◆ base_type

template<typename DataType >

using toolbox::pcl::super_four_pcs_registration_t< DataType >::base_type = four_pcs_registration_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

◆ super_four_pcs_registration_t()

template<typename DataType >

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

default

◆ ~super_four_pcs_registration_t()

template<typename DataType >

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

default

Member Function Documentation

◆ align_impl()

template<typename DataType >

bool toolbox::pcl::super_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

◆ enable_smart_indexing()

template<typename DataType >

void toolbox::pcl::super_four_pcs_registration_t< DataType >::enable_smart_indexing ( bool enable )

inline

启用/禁用智能索引 / Enable/disable smart indexing

Parameters

enable true启用，false禁用 / true to enable, false to disable

◆ find_congruent_sets_optimized()

template<typename DataType >

std::vector< typename super_four_pcs_registration_t< DataType >::base_4pcs_t > toolbox::pcl::super_four_pcs_registration_t< DataType >::find_congruent_sets_optimized ( const base_4pcs_t & source_base ) const

protected

寻找匹配的4点集（优化版本） / Find congruent sets (optimized version)

Parameters

source_base 源基 / Source base

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

◆ get_algorithm_name_impl()

template<typename DataType >

std::string toolbox::pcl::super_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_grid_resolution()

template<typename DataType >

DataType toolbox::pcl::super_four_pcs_registration_t< DataType >::get_grid_resolution ( ) const

inline

获取网格分辨率 / Get grid resolution

Returns: 网格分辨率 / Grid resolution

◆ get_pair_distance_epsilon()

template<typename DataType >

DataType toolbox::pcl::super_four_pcs_registration_t< DataType >::get_pair_distance_epsilon ( ) const

inline

获取点对距离容差 / Get pair distance tolerance

Returns: 距离容差 / Distance tolerance

◆ is_smart_indexing_enabled()

template<typename DataType >

bool toolbox::pcl::super_four_pcs_registration_t< DataType >::is_smart_indexing_enabled ( ) const

inline

获取是否使用智能索引 / Get whether using smart indexing

Returns: 是否使用智能索引 / Whether using smart indexing

◆ set_grid_resolution()

template<typename DataType >

void toolbox::pcl::super_four_pcs_registration_t< DataType >::set_grid_resolution ( DataType resolution )

inline

设置网格分辨率 / Set grid resolution

Parameters

resolution 网格单元大小（0表示自动计算） / Grid cell size (0 for auto)

◆ set_pair_distance_epsilon()

template<typename DataType >

void toolbox::pcl::super_four_pcs_registration_t< DataType >::set_pair_distance_epsilon ( DataType epsilon )

inline

设置点对距离容差 / Set pair distance tolerance

Parameters

epsilon 距离容差 / Distance tolerance

Friends And Related Symbol Documentation

◆ base_coarse_registration_t< super_four_pcs_registration_t< DataType >, DataType >

template<typename DataType >

friend class base_coarse_registration_t< super_four_pcs_registration_t< DataType >, DataType >

friend

◆ four_pcs_registration_t< DataType >

template<typename DataType >

friend class four_pcs_registration_t< DataType >

friend

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

src/include/cpp-toolbox/pcl/registration/super_four_pcs_registration.hpp
src/include/cpp-toolbox/pcl/registration/impl/super_four_pcs_registration_impl.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ base_type

◆ matrix3_t

◆ transformation_t

◆ vector3_t

Constructor & Destructor Documentation

◆ super_four_pcs_registration_t()

◆ ~super_four_pcs_registration_t()

Member Function Documentation

◆ align_impl()

◆ enable_smart_indexing()

◆ find_congruent_sets_optimized()

◆ get_algorithm_name_impl()

◆ get_grid_resolution()

◆ get_pair_distance_epsilon()

◆ is_smart_indexing_enabled()

◆ set_grid_resolution()

◆ set_pair_distance_epsilon()

Friends And Related Symbol Documentation

◆ base_coarse_registration_t< super_four_pcs_registration_t< DataType >, DataType >

◆ four_pcs_registration_t< DataType >