OpenGR: gr::Functor4PCS< PointType, PairFilterFunctor, Options > Struct Template Reference

Processing functor for the computation of the 4PCS algorithm. More...

#include <Functor4pcs.h>

Collaboration diagram for gr::Functor4PCS< PointType, PairFilterFunctor, Options >:

Public Types
using	BaseCoordinates = typename Traits4pcs< PointType >::Coordinates

using	OptionType = Options

using	PairsVector = std::vector< std::pair< int, int > >

using	Scalar = typename PointType::Scalar

using	VectorType = typename PointType::VectorType

Public Member Functions
void	ExtractPairs (Scalar pair_distance, Scalar pair_normals_angle, Scalar pair_distance_epsilon, int base_point1, int base_point2, PairsVector *pairs) const
	Constructs pairs of points in Q, corresponding to a single pair in the in basein P. More...

bool	FindCongruentQuadrilaterals (Scalar invariant1, Scalar invariant2, Scalar, Scalar distance_threshold2, const std::vector< std::pair< int, int >> &First_pairs, const std::vector< std::pair< int, int >> &Second_pairs, typename Traits4pcs< PointType >::Set *quadrilaterals) const
	Finds congruent candidates in the set Q, given the invariants and threshold distances. Returns true if a non empty set can be found, false otherwise. More...

	Functor4PCS (std::vector< PointType > &sampled_Q_3D_, BaseCoordinates &base_3D_, const OptionType &options)

void	Initialize ()
	Initializes the data structures and needed values before the match computation. More...

Detailed Description

template<typename PointType, typename PairFilterFunctor, typename Options>
struct gr::Functor4PCS< PointType, PairFilterFunctor, Options >

Processing functor for the computation of the 4PCS algorithm.

See also: Match4pcsBase

Template Parameters

PairFilterFunctor filters pairs of points during the exploration. Must implement PairFilterConcept

Member Typedef Documentation

template<typename PointType , typename PairFilterFunctor , typename Options >

using gr::Functor4PCS< PointType, PairFilterFunctor, Options >::BaseCoordinates = typename Traits4pcs<PointType>::Coordinates

template<typename PointType , typename PairFilterFunctor , typename Options >

using gr::Functor4PCS< PointType, PairFilterFunctor, Options >::OptionType = Options

template<typename PointType , typename PairFilterFunctor , typename Options >

using gr::Functor4PCS< PointType, PairFilterFunctor, Options >::PairsVector = std::vector< std::pair<int, int> >

template<typename PointType , typename PairFilterFunctor , typename Options >

using gr::Functor4PCS< PointType, PairFilterFunctor, Options >::Scalar = typename PointType::Scalar

template<typename PointType , typename PairFilterFunctor , typename Options >

using gr::Functor4PCS< PointType, PairFilterFunctor, Options >::VectorType = typename PointType::VectorType

Constructor & Destructor Documentation

template<typename PointType , typename PairFilterFunctor , typename Options >

gr::Functor4PCS< PointType, PairFilterFunctor, Options >::Functor4PCS	(	std::vector< PointType > &	sampled_Q_3D_,
		BaseCoordinates &	base_3D_,
		const OptionType &	options
	)

inline

Here is the call graph for this function:

Member Function Documentation

template<typename PointType , typename PairFilterFunctor , typename Options >

void gr::Functor4PCS< PointType, PairFilterFunctor, Options >::ExtractPairs	(	Scalar	pair_distance,
		Scalar	pair_normals_angle,
		Scalar	pair_distance_epsilon,
		int	base_point1,
		int	base_point2,
		PairsVector *	pairs
	)		const

inline

Constructs pairs of points in Q, corresponding to a single pair in the in basein P.

Parameters

[in]	pair_distance	The distance between the pairs in P that we have to match in the pairs we select from Q.
[in]	pair_normal_distance	The angle between the normals of the pair in P.
[in]	pair_distance_epsilon	Tolerance on the pair distance. We allow candidate pair in Q to have distance of pair_distance+-pair_distance_epsilon.
[in]	base_point1	The index of the first point in P.
[in]	base_point2	The index of the second point in P.
[out]	pairs	A set of pairs in Q that match the pair in P with respect to distance and normals, up to the given tolerance.

template<typename PointType , typename PairFilterFunctor , typename Options >

bool gr::Functor4PCS< PointType, PairFilterFunctor, Options >::FindCongruentQuadrilaterals	(	Scalar	invariant1,
		Scalar	invariant2,
		Scalar	,
		Scalar	distance_threshold2,
		const std::vector< std::pair< int, int >> &	First_pairs,
		const std::vector< std::pair< int, int >> &	Second_pairs,
		typename Traits4pcs< PointType >::Set *	quadrilaterals
	)		const

inline

Finds congruent candidates in the set Q, given the invariants and threshold distances. Returns true if a non empty set can be found, false otherwise.

Parameters

	invariant1	[in] The first invariant corresponding to the set P_pairs of pairs, previously extracted from Q.
	invariant2	[in] The second invariant corresponding to the set Q_pairs of pairs, previously extracted from Q.
[in]	distance_threshold1	The distance for verification.
[in]	distance_threshold2	The distance for matching middle points due to the invariants (See the paper for e1, e2).
[in]	First_pairs	The first set of pairs found in Q.
[in]	Second_pairs	The second set of pairs found in Q.
[out]	quadrilaterals	The set of congruent quadrilateral. In fact, it's a super set from which we extract the real congruent set.

template<typename PointType , typename PairFilterFunctor , typename Options >

void gr::Functor4PCS< PointType, PairFilterFunctor, Options >::Initialize ( )

inline

Initializes the data structures and needed values before the match computation.

The documentation for this struct was generated from the following file:

/home/travis/build/STORM-IRIT/OpenGR/src/gr/algorithms/Functor4pcs.h