registration.hpp File Reference

点云配准算法统一导出文件 / Unified export file for point cloud registration algorithms More...

#include <cpp-toolbox/pcl/registration/registration_result.hpp>
#include <cpp-toolbox/pcl/registration/base_coarse_registration.hpp>
#include <cpp-toolbox/pcl/registration/ransac_registration.hpp>
#include <cpp-toolbox/pcl/registration/four_pcs_registration.hpp>
#include <cpp-toolbox/pcl/registration/super_four_pcs_registration.hpp>
#include <cpp-toolbox/types/point.hpp>
#include <cpp-toolbox/logger/thread_logger.hpp>

Include dependency graph for registration.hpp:

Go to the source code of this file.

Namespaces
namespace	toolbox
namespace	toolbox::pcl

Macros
#define	LOG_ERROR_S   toolbox::logger::thread_logger_t::instance().error_s()

Typedefs
using	toolbox::pcl::ransac_registration = ransac_registration_t< float >
using	toolbox::pcl::four_pcs_registration = four_pcs_registration_t< float >
using	toolbox::pcl::super_four_pcs_registration = super_four_pcs_registration_t< float >
using	toolbox::pcl::registration_result = registration_result_t< float >
using	toolbox::pcl::ransac_registration_d = ransac_registration_t< double >
using	toolbox::pcl::four_pcs_registration_d = four_pcs_registration_t< double >
using	toolbox::pcl::super_four_pcs_registration_d = super_four_pcs_registration_t< double >
using	toolbox::pcl::registration_result_d = registration_result_t< double >

Functions
template<typename DataType >
registration_result_t< DataType >	toolbox::pcl::quick_registration (const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &source, const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &target, const std::string &algorithm="super4pcs", DataType overlap=0.5f)
	配准算法选择指南 / Registration algorithm selection guide

Detailed Description

点云配准算法统一导出文件 / Unified export file for point cloud registration algorithms

该文件提供了点云配准的统一接口，包括粗配准和精配准算法。 This file provides a unified interface for point cloud registration, including both coarse and fine registration algorithms.

粗配准算法 / Coarse Registration Algorithms:

• RANSAC: 基于对应关系的随机采样一致性算法 / Correspondence-based random sample consensus
• 4PCS: 4点共面集算法，不需要初始对应关系 / 4-Point Congruent Sets, no initial correspondences needed
• Super4PCS: 优化的4PCS，适合大规模点云 / Optimized 4PCS for large-scale point clouds

#include <cpp-toolbox/pcl/registration/registration.hpp>
 
using namespace toolbox::pcl;
 
// RANSAC配准示例 / RANSAC registration example
ransac_registration_t<float> ransac;
ransac.set_source(source_cloud);
ransac.set_target(target_cloud);
ransac.set_correspondences(correspondences);
 
registration_result_t<float> result;
if (ransac.align(result)) {
    std::cout << "配准成功，内点数 / Registration successful, inliers: " 
              << result.inliers.size() << std::endl;
}
 
// 4PCS配准示例（不需要对应关系） / 4PCS registration example (no correspondences needed)
four_pcs_registration_t<float> fourpcs;
fourpcs.set_source(source_cloud);
fourpcs.set_target(target_cloud);
fourpcs.set_delta(0.01f);     // 1cm精度 / 1cm accuracy
fourpcs.set_overlap(0.5f);    // 50%重叠 / 50% overlap
 
if (fourpcs.align(result)) {
    // 使用result.transformation变换源点云
    // Use result.transformation to transform source cloud
}

Macro Definition Documentation

LOG_ERROR_S

#define LOG_ERROR_S   toolbox::logger::thread_logger_t::instance().error_s()