PCL - ICP代碼研讀（十 ） - Correspondence架構

前言

Correspondence結構體表示兩點雲間的一組配對，它的架構主要寫在correspondence.h中。

Correspondence

必要的include：

#pragma once

#ifdef __GNUC__
#pragma GCC system_header
#endif

#include <pcl/pcl_base.h>
#include <pcl/memory.h>
#include <pcl/types.h>
#include <Eigen/StdVector>
#include <Eigen/Geometry>
#include <pcl/pcl_exports.h>

namespace pcl
{

Correspondence結構體的定義：

  /**
   * distance表示的是距離平方?
   * 1. correspondence_estimation.hpp裡面的CorrespondenceEstimation::determineCorrespondences是把距離平方assign給distance?
   * 2. default_convergence_criteria.h裡面的DefaultConvergenceCriteria::calculateMSE也是拿當distance距離平方來用?
   **/
  /** \brief Correspondence represents a match between two entities (e.g., points, descriptors, etc). This is
    * represented via the indices of a \a source point and a \a target point, and the distance between them.
    *
    * \author Dirk Holz, Radu B. Rusu, Bastian Steder
    * \ingroup common
    */
  struct Correspondence
  {

source點雲中的第index_query個點和target點雲中的第index_match個點是一個配對：

    // (index_query,index_match)分別表示source和target點雲中配對點的索引
    /** \brief Index of the query (source) point. */
    index_t index_query = 0;
    /** \brief Index of the matching (target) point. Set to -1 if no correspondence found. */
    index_t index_match = UNAVAILABLE;

此處用到了C++ union，其用法詳見c++ --> union介绍。
這裡把距離（對照後面correspondence_estimation.h的代碼來看，應該是距離平方）及權重一同用union管理->不太懂這麼做的用意。

    // 註解錯了,應該是距離平方,還是要把變數名改掉?
    /** \brief Distance between the corresponding points, or the weight denoting the confidence in correspondence estimation */
    // union?待研究
    union
    {
      float distance = std::numeric_limits<float>::max();
      float weight;
    };

Correspondence建構子，可選擇是否傳入兩配對點索引及它們之間的距離：

    /** \brief Standard constructor.
      * Sets \ref index_query to 0, \ref index_match to -1, and \ref distance to FLT_MAX.
      */
    inline Correspondence () = default;

    /** \brief Constructor. */
    inline Correspondence (index_t _index_query, index_t _index_match, float _distance) :
      index_query (_index_query), index_match (_index_match), distance (_distance)
    {}

    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

overload << 運算子：

  /** \brief overloaded << operator */
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Correspondence& c);

定義名稱，方便後續使用：

  // 多個Correspoondence構成的向量
  using Correspondences = std::vector< pcl::Correspondence, Eigen::aligned_allocator<pcl::Correspondence> >;
  using CorrespondencesPtr = shared_ptr<Correspondences>;
  using CorrespondencesConstPtr = shared_ptr<const Correspondences >;

getRejectedQueryIndices用於尋找被拒絕的點對：

  /**
    * \brief Get the query points of correspondences that are present in
    * one correspondence vector but not in the other, e.g., to compare
    * correspondences before and after rejection.
    * \param[in] correspondences_before Vector of correspondences before rejection
    * \param[in] correspondences_after Vector of correspondences after rejection
    * \param[out] indices Query point indices of correspondences that have been rejected
    * \param[in] presorting_required Enable/disable internal sorting of vectors.
    * By default (true), vectors are internally sorted before determining their difference.
    * If the order of correspondences in \a correspondences_after is not different (has not been changed)
    * from the order in \b correspondences_before this pre-processing step can be disabled
    * in order to gain efficiency. In order to disable pre-sorting set \a presorting_required to false.
    */
  // 比較correspondences_before和correspondences_after,找出是哪個點對被拒絕了
  // 在找差集之前是否要先排序,預設是要
  void
  getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
                           const pcl::Correspondences &correspondences_after,
                           Indices& indices,
                           bool presorting_required = true);

目前沒看到這些定義在哪裡被用到，暫時略過：

  /**
    * \brief Representation of a (possible) correspondence between two 3D points in two different coordinate frames
    *        (e.g. from feature matching)
    * \ingroup common
    */
  // 為何要用兩個坐標系?
  struct PointCorrespondence3D : public Correspondence
  {
    Eigen::Vector3f point1;  //!< The 3D position of the point in the first coordinate frame
    Eigen::Vector3f point2;  //!< The 3D position of the point in the second coordinate frame

    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
  using PointCorrespondences3DVector = std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> >;

  /**
    * \brief Representation of a (possible) correspondence between two points (e.g. from feature matching),
    *        that encode complete 6DOF transformations.
    * \ingroup common
    */
  // 將點由坐標系二轉換到坐標系一?
  struct PointCorrespondence6D : public PointCorrespondence3D
  {
    Eigen::Affine3f transformation;  //!< The transformation to go from the coordinate system
                                        //!< of point2 to the coordinate system of point1

    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
  using PointCorrespondences6DVector = std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> >;

isBetterCorrespondence函數比較兩個Correspondence，如果第一個Correspondence的distance較大，則回傳true。（？）目前沒看到這個函數在哪裡被用到。

  /**
    * \brief Comparator to enable us to sort a vector of PointCorrespondences according to their scores using
    *        std::sort (begin(), end(), isBetterCorrespondence);
    * \ingroup common
    */
  // 距離大的反而是好的配對?
  inline bool
  isBetterCorrespondence (const Correspondence &pc1, const Correspondence &pc2)
  {
    return (pc1.distance > pc2.distance);
  }
}