Class for the computation of the 4PCS algorithm. More...

#include <match4pcsBase.h>

Inheritance diagram for gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >:

Collaboration diagram for gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >:

Public Types
using	CongruentBaseType = typename MatchBaseType::CongruentBaseType

using	Coordinates = typename MatchBaseType::Coordinates

using	Functor = _Functor< PosMutablePoint, PairFilteringFunctor, OptionsType >

using	MatchBaseType = CongruentSetExplorationBase< Traits4pcs< PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >

using	MatrixType = typename MatchBaseType::MatrixType

using	OptionsType = typename MatchBaseType::OptionsType

using	PairFilteringFunctor = _PairFilteringFunctor

using	PosMutablePoint = typename MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint

using	Scalar = typename _PointType::Scalar

using	Set = typename MatchBaseType::Set

using	TransformVisitor = typename MatchBaseType::TransformVisitor

using	VectorType = typename MatchBaseType::VectorType

Public Types inherited from gr::CongruentSetExplorationBase< Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >
using	CongruentBaseType = typename Traits::Base

using	Coordinates = typename Traits::Coordinates

using	LogLevel = typename MatchBaseType::LogLevel

using	MatchBaseType = MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >

using	MatrixType = typename MatchBaseType::MatrixType

using	OptionsType = typename MatchBaseType::OptionsType

using	PairFilteringFunctor = _PairFilteringFunctor

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

using	PosMutablePoint = typename MatchBaseType::PosMutablePoint

using	RegistrationMetric = Utils::LCPMetric< Scalar >

using	Scalar = typename MatchBaseType::Scalar

using	Set = typename Traits::Set

using	Traits = Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >

using	TransformVisitor = _TransformVisitor

using	VectorType = typename MatchBaseType::VectorType

Public Types inherited from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >
using	LogLevel = Utils::LogLevel

using	MatrixType = Eigen::Matrix< Scalar, 4, 4 >

using	OptionsType = gr::Utils::CRTP< PairFilteringOptions......, Options >

using	Scalar = typename _PointType::Scalar

using	TransformVisitor = _TransformVisitor

using	VectorType = typename _PointType::VectorType

Public Member Functions
bool	generateCongruents (CongruentBaseType &base, Set &congruent_quads) override
	Find all the congruent set similar to the base in the second 3D model (Q). It could be with a 3 point base or a 4 point base. More...

const Functor &	getFunctor () const

bool	initBase (CongruentBaseType &base) override
	Tries to compute an inital base from P. More...

void	Initialize () override
	Initializes the data structures and needed values before the match computation. This method is called once the internal state of the Base class as been set. More...

	Match4pcsBase (const OptionsType &options, const Utils::Logger &logger)

bool	SelectQuadrilateral (Scalar &invariant1, Scalar &invariant2, int &base1, int &base2, int &base3, int &base4)
	Selects a random triangle in the set P (then we add another point to keep the base as planar as possible). We apply a simple heuristic that works in most practical cases. The idea is to accept maximum distance, computed by the estimated overlap, multiplied by the diameter of P, and try to have a triangle with all three edges close to this distance. Wide triangles helps to make the transformation robust while too large triangles makes the probability of having all points in the inliers small so we try to trade-off. More...

bool	TryQuadrilateral (Scalar &invariant1, Scalar &invariant2, int &id1, int &id2, int &id3, int &id4)
	Takes quadrilateral as a base, computes robust intersection point (approximate as the lines might not intersect) and returns the invariants corresponding to the two selected lines. The method also updates the order of the base base_3D_. More...

virtual	~Match4pcsBase ()

Public Member Functions inherited from gr::CongruentSetExplorationBase< Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >
Scalar	ComputeTransformation (const InputRange1 &P, const InputRange2 &Q, Eigen::Ref< MatrixType > transformation, const Sampler< _PointType > &sampler, TransformVisitor &v)
	Computes an approximation of the best LCP (directional) from Q to P and the rigid transformation that realizes it. The input sets may or may not contain normal information for any point. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CongruentSetExplorationBase (const OptionsType &options, const Utils::Logger &logger)

virtual bool	initBase (CongruentBaseType &base)=0
	Tries to compute an inital base from P. More...

virtual	~CongruentSetExplorationBase ()

Public Member Functions inherited from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >
Scalar	ComputeTransformation (const InputRange1 &P, const InputRange2 &Q, Eigen::Ref< MatrixType > transformation, const Sampler< _PointType > &sampler, TransformVisitor &v)
	Computes an approximation of the best LCP (directional) from Q to P and the rigid transformation that realizes it. The input sets may or may not contain normal information for any point. More...

const std::vector< PosMutablePoint > &	getFirstSampled () const
	Read access to the sampled clouds used for the registration. More...

const std::vector< PosMutablePoint > &	getSecondSampled () const
	Read access to the sampled clouds used for the registration. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MatchBase (const OptionsType &options, const Utils::Logger &logger)

virtual	~MatchBase ()

Protected Member Functions
virtual bool	initBase (CongruentBaseType &base, Scalar &invariant1, Scalar &invariant2)

Protected Member Functions inherited from gr::CongruentSetExplorationBase< Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >
const CongruentBaseType &	base3D () const

virtual bool	generateCongruents (CongruentBaseType &base, Set &congruent_set)=0
	Find all the congruent set similar to the base in the second 3D model (Q). It could be with a 3 point base or a 4 point base. More...

bool	Perform_N_steps (int n, Eigen::Ref< MatrixType > transformation, TransformVisitor &v)
	Performs n RANSAC iterations, each one of them containing base selection, finding congruent sets and verification. Returns true if the process can be terminated (the target LCP was obtained or the maximum number of trials has been reached), false otherwise. More...

bool	TryCongruentSet (CongruentBaseType &base, Set &set, TransformVisitor &v, size_t &nbCongruent)
	Loop over the set of congruent 4-points and test the compatibility with the input base. More...

bool	TryOneBase (TransformVisitor &v)
	Tries one base and finds the best transformation for this base. Returns true if the achieved LCP is greater than terminate_threshold_, else otherwise. More...

Scalar	Verify (const Eigen::Ref< const MatrixType > &mat) const
	For each randomly picked base, verifies the computed transformation by computing the number of points that this transformation brings near points in Q. Returns the current LCP. R is the rotation matrix, (tx,ty,tz) is the translation vector and (cx,cy,cz) is the center of transformation.template <class matrixderived>=""> More...

Protected Member Functions inherited from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >
bool	ComputeRigidTransformation (const Coordinates &ref, const Coordinates &candidate, const Eigen::Matrix< Scalar, 3, 1 > &centroid1, Eigen::Matrix< Scalar, 3, 1 > centroid2, Eigen::Ref< MatrixType > transform, Scalar &rms_, bool computeScale) const
	Computes the best rigid transformation between three corresponding pairs. The transformation is characterized by rotation matrix, translation vector and a center about which we rotate. The set of pairs is potentially being updated by the best permutation of the second set. Returns the RMS of the fit. The method is being called with n points but it applies the fit for only 3 after the best permutation is selected in the second set (see bellow). This is done because the solution for planar points is much simpler. The method is the closed-form solution by Horn: people.csail.mit.edu/bkph/papers/Absolute_Orientation.pdf. More...

void	init (const InputRange1 &P, const InputRange2 &Q, const Sampler< _PointType > &sampler)
	Initializes the internal state of the Base class. More...

void	Log (Args...args) const

Scalar	MeanDistance () const
	Computes the mean distance between points in Q and their nearest neighbor. We need this for normalization of the user delta (See the paper) to the "scale" of the set. More...

bool	SelectRandomTriangle (Scalar max_base_diameter, int &base1, int &base2, int &base3)
	Selects a random triangle in the set P (then we add another point to keep the base as planar as possible). We apply a simple heuristic that works in most practical cases. The idea is to accept maximum distance, computed by the estimated overlap, multiplied by the diameter of P, and try to have a triangle with all three edges close to this distance. Wide triangles helps to make the transformation robust while too large triangles makes the probability of having all points in the inliers small so we try to trade-off. More...

Protected Attributes
Functor	fun_

Protected Attributes inherited from gr::CongruentSetExplorationBase< Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >
CongruentBaseType	base_
	The points in the base (indices to P). It is being updated in every RANSAC iteration. More...

Coordinates	base_3D_
	The 3D points of the base. More...

Scalar	best_LCP_
	The best LCP (Largest Common Point) fraction so far. More...

CongruentBaseType	current_congruent_
	The current congruent 4 points from Q. Every RANSAC iteration the algorithm examines a set of such congruent 4-points from Q and retains the best from them (the one that realizes the best LCP). More...

int	current_trial_
	Current trial. More...

Scalar	max_base_diameter_
	Maximum base diameter. It is computed automatically from the diameter of P and the estimated overlap and used to limit the distance between the points in the base in P so that the probability to have all points in the base as inliers is increased. More...

int	number_of_trials_
	Number of trials. Every trial picks random base from P. More...

Protected Attributes inherited from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >
VectorType	centroid_P_
	The centroid of P. More...

VectorType	centroid_Q_
	The centroid of Q. More...

KdTree< Scalar >	kd_tree_
	KdTree used to compute the LCP. More...

const Utils::Logger &	logger_

OptionsType	options_

Scalar	P_diameter_
	The diameter of P. More...

Scalar	P_mean_distance_
	Mean distance between points and their nearest neighbor in the set P. Used to normalize the "delta" which is given in terms of this distance. More...

VectorType	qcentroid1_

VectorType	qcentroid2_

std::mt19937	randomGenerator_

std::vector< PosMutablePoint >	sampled_P_3D_
	Sampled P (3D coordinates). More...

std::vector< PosMutablePoint >	sampled_Q_3D_
	Sampled Q (3D coordinates). More...

Eigen::Matrix< Scalar, 4, 4 >	transform_
	The transformation matrix by wich we transform Q to P. More...

Additional Inherited Members
Static Public Attributes inherited from gr::CongruentSetExplorationBase< Traits4pcs< MatchBase< _PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions >::PosMutablePoint >, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >
static constexpr Scalar	distance_factor

static constexpr Scalar	kLargeNumber

Static Protected Attributes inherited from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >
static constexpr int	kNumberOfDiameterTrials

Detailed Description

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>
class gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >

Class for the computation of the 4PCS algorithm.

Parameters

Functor use to determinate the use of Super4pcs or 4pcs algorithm.

Member Typedef Documentation

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::CongruentBaseType = typename MatchBaseType::CongruentBaseType

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::Coordinates = typename MatchBaseType::Coordinates

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::Functor = _Functor<PosMutablePoint, PairFilteringFunctor, OptionsType>

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::MatchBaseType = CongruentSetExplorationBase<Traits4pcs<PosMutablePoint>, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions>

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::MatrixType = typename MatchBaseType::MatrixType

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::OptionsType = typename MatchBaseType::OptionsType

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::PairFilteringFunctor = _PairFilteringFunctor

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::PosMutablePoint = typename MatchBase<_PointType, _TransformVisitor, PairFilteringOptions, CongruentSetExplorationOptions>::PosMutablePoint

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::Scalar = typename _PointType::Scalar

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::Set = typename MatchBaseType::Set

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::TransformVisitor = typename MatchBaseType::TransformVisitor

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

using gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::VectorType = typename MatchBaseType::VectorType

Constructor & Destructor Documentation

template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::Match4pcsBase	(	const OptionsType &	options,
		const Utils::Logger &	logger
	)

inline

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template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::~Match4pcsBase ( )

virtual

Member Function Documentation

template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

bool gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::generateCongruents	(	CongruentBaseType &	base,
		Set &	congruent_quads
	)

override

Find all the congruent set similar to the base in the second 3D model (Q). It could be with a 3 point base or a 4 point base.

Parameters

base	use to find the similar points congruent in Q.
congruent_set	a set of all point congruent found in Q.

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template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

const Functor& gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::getFunctor ( ) const

inline

template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

bool gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::initBase ( CongruentBaseType & base )

override

Tries to compute an inital base from P.

Parameters

[out] base The base, if found. Initial value is not used. Modified as the computed base if the return value is true.

Returns: true if a base is found an initialized, false otherwise

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template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

bool gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::initBase	(	CongruentBaseType &	base,
		Scalar &	invariant1,
		Scalar &	invariant2
	)

protectedvirtual

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template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

void gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::Initialize ( )

overridevirtual

Initializes the data structures and needed values before the match computation. This method is called once the internal state of the Base class as been set.

Reimplemented from gr::MatchBase< _PointType, _TransformVisitor, PairFilteringOptions..., CongruentSetExplorationOptions >.

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template<template< typename, typename, typename > class _Functor, typename PointType , typename TransformVisitor , typename PairFilteringFunctor , template< class, class > class PFO>

bool gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::SelectQuadrilateral	(	Scalar &	invariant1,
		Scalar &	invariant2,
		int &	base1,
		int &	base2,
		int &	base3,
		int &	base4
	)

inline

Selects a random triangle in the set P (then we add another point to keep the base as planar as possible). We apply a simple heuristic that works in most practical cases. The idea is to accept maximum distance, computed by the estimated overlap, multiplied by the diameter of P, and try to have a triangle with all three edges close to this distance. Wide triangles helps to make the transformation robust while too large triangles makes the probability of having all points in the inliers small so we try to trade-off.

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template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

bool gr::Match4pcsBase< _Functor, PointType, TransformVisitor, PairFilteringFunctor, PFO >::TryQuadrilateral	(	Scalar &	invariant1,
		Scalar &	invariant2,
		int &	id1,
		int &	id2,
		int &	id3,
		int &	id4
	)

inline

Takes quadrilateral as a base, computes robust intersection point (approximate as the lines might not intersect) and returns the invariants corresponding to the two selected lines. The method also updates the order of the base base_3D_.

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Member Data Documentation

template<template< typename, typename, typename > class _Functor, typename _PointType, typename _TransformVisitor, typename _PairFilteringFunctor, template< class, class > class PairFilteringOptions>

Functor gr::Match4pcsBase< _Functor, _PointType, _TransformVisitor, _PairFilteringFunctor, PairFilteringOptions >::fun_

protected

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

/home/travis/build/STORM-IRIT/OpenGR/src/gr/algorithms/match4pcsBase.h
/home/travis/build/STORM-IRIT/OpenGR/src/gr/algorithms/match4pcsBase.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation