PCL - ICP代碼研讀（十四 ） - CorrespondenceEstimation架構

前言

CorrespondenceEstimation類別繼承自抽象類別CorrespondenceEstimationBase（參考PCL - ICP代碼研讀（十二 ） - CorrespondenceEstimationBase架構），實現了determineCorrespondences和determineReciprocalCorrespondences函數，可以用於估計兩點雲間的配對。

本篇對應到correspondence_estimation.h這個檔案。

CorrespondenceEstimation

/** \brief @b CorrespondenceEstimation represents the base class for
 * determining correspondences between target and query point
 * sets/features.
 *
 * Code example:
 *
 * \code
 * pcl::PointCloud<pcl::PointXYZRGBA>::Ptr source, target;
 * // ... read or fill in source and target
 * pcl::CorrespondenceEstimation<pcl::PointXYZ, pcl::PointXYZ> est;
 * est.setInputSource (source);
 * est.setInputTarget (target);
 *
 * pcl::Correspondences all_correspondences;
 * // Determine all reciprocal correspondences
 * est.determineReciprocalCorrespondences (all_correspondences);
 * \endcode
 *
 * \author Radu B. Rusu, Michael Dixon, Dirk Holz
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class CorrespondenceEstimation
: public CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> {
public:

using

定義名稱，方便後續使用：

  using Ptr = shared_ptr<CorrespondenceEstimation<PointSource, PointTarget, Scalar>>;
  using ConstPtr =
      shared_ptr<const CorrespondenceEstimation<PointSource, PointTarget, Scalar>>;

  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
      point_representation_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
      input_transformed_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::tree_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
      tree_reciprocal_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::corr_name_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_indices_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::getClassName;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::initCompute;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::
      initComputeReciprocal;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::input_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::indices_;
  using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::input_fields_;
  using PCLBase<PointSource>::deinitCompute;

  using KdTree = pcl::search::KdTree<PointTarget>;
  using KdTreePtr = typename KdTree::Ptr;

  using PointCloudSource = pcl::PointCloud<PointSource>;
  using PointCloudSourcePtr = typename PointCloudSource::Ptr;
  using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;

  using PointCloudTarget = pcl::PointCloud<PointTarget>;
  using PointCloudTargetPtr = typename PointCloudTarget::Ptr;
  using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr;

  using PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr;

constructor和destructor

  /** \brief Empty constructor. */
  CorrespondenceEstimation() { corr_name_ = "CorrespondenceEstimation"; }

  /** \brief Empty destructor */
  ~CorrespondenceEstimation() {}

determineCorrespondences和determineReciprocalCorrespondences函數

這兩個函數是CorrespondenceEstimation類別的核心，它們會尋找兩點雲中距離小於max_distance者當作點對，並填入correspondences這個容器裡。

如果不要求兩點互為最近鄰，則使用determineCorrespondences函數，否則使用determineReciprocalCorrespondences函數。

  /** \brief Determine the correspondences between input and target cloud.
   * \param[out] correspondences the found correspondences (index of query point, index
   * of target point, distance) \param[in] max_distance maximum allowed distance between
   * correspondences
   */
  void
  determineCorrespondences(
      pcl::Correspondences& correspondences,
      double max_distance = std::numeric_limits<double>::max()) override;

  /** \brief Determine the reciprocal correspondences between input and target cloud.
   * A correspondence is considered reciprocal if both Src_i has Tgt_i as a
   * correspondence, and Tgt_i has Src_i as one.
   *
   * \param[out] correspondences the found correspondences (index of query and target
   * point, distance) \param[in] max_distance maximum allowed distance between
   * correspondences
   */
  void
  determineReciprocalCorrespondences(
      pcl::Correspondences& correspondences,
      double max_distance = std::numeric_limits<double>::max()) override;

clone函數

返回一份自己的克隆。

  /** \brief Clone and cast to CorrespondenceEstimationBase */
  typename CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::Ptr
  clone() const override
  {
    Ptr copy(new CorrespondenceEstimation<PointSource, PointTarget, Scalar>(*this));
    return (copy);
  }
};
} // namespace registration
} // namespace pcl

#include <pcl/registration/impl/correspondence_estimation.hpp>