Correspondence Matching. More...

#include <CorrespondenceMatching.h>

Inheritance diagram for CorrespondenceMatching:

Collaboration diagram for CorrespondenceMatching:

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Public Member Functions
	CorrespondenceMatching ()

virtual	~CorrespondenceMatching ()

virtual int	compute ()
	Performs the actual filter job. More...

Public Member Functions inherited from BasePclModule
	BasePclModule (PclModuleDescription desc=PclModuleDescription(), ccPluginInterface *parent_plugin=0)
	Default constructor. More...

QAction *	getAction ()
	Get the action associated with the button used in menu and toolbar creation. More...

QString	getStatusTip () const
	Returns the status tip. More...

QString	getModuleName () const
	Returns the name of the filter. More...

QString	getEntryName () const
	Returns the entry name. More...

QIcon	getIcon () const
	Returns the icon associated with the button. More...

void	setShowProgressBar (bool status)
	Sets whether to show a progressbar while computing or not. More...

std::vector< std::string >	getSelectedAvailableScalarFields ()

ccPointCloud *	getSelectedEntityAsCCPointCloud () const
	Returns the first selected entity as a ccPointCloud. More...

ccHObject *	getSelectedEntityAsCCHObject () const
	Returns the first selected entity as a ccHObject. More...

ccHObject::Container	getSelectedThatHaveMetaData (const QString key) const
	Get selected object that also have the provided metadata key. More...

void	getAllEntitiesOfType (CV_CLASS_ENUM type, ccHObject::Container &entities)
	Returns all the objects in db tree of type "type". More...

void	getAllEntitiesThatHaveMetaData (QString key, ccHObject::Container &entities)

void	getSelectedEntitiesThatAreCCPointCloud (ccHObject::Container &entities)
	get all entities that are selected and that also are cc_point_cloud More...

void	getSelectedEntitiesThatAre (CV_CLASS_ENUM kind, ccHObject::Container &entities)

int	hasSelectedRGB ()
	Returns 1 if the first selected entity has RGB info. More...

int	hasSelectedScalarField ()
	Returns 1 if the first selected entity has at least one scalar field. More...

int	hasSelectedScalarField (std::string field_name)

int	isFirstSelectedCcPointCloud ()
	Returns 1 if the first selected object is a ccPointCloud. More...

virtual void	updateSelectedEntities (const ccHObject::Container &selectedEntities)
	Updates the internal copy of selected entities. More...

void	setMainAppInterface (ecvMainAppInterface *app)
	Sets associated CC application interface (to access DB) More...

ecvMainAppInterface *	getMainAppInterface ()

ccPluginInterface *	getParentPlugin () const
	Returns the associated parent plugin interface. More...

Protected Member Functions
virtual int	checkSelected ()
	Checks if current selection is compliant with the filter. More...

virtual int	openInputDialog ()

virtual void	getParametersFromDialog ()
	Collects parameters from the filter dialog (if openDialog is successful) More...

virtual int	checkParameters ()

virtual QString	getErrorMessage (int errorCode)
	Returns the error message corresponding to a given error code. More...

void	applyTransformation (ccHObject *entity, const ccGLMatrixd &mat)

Protected Member Functions inherited from BasePclModule
virtual int	openOutputDialog ()

virtual int	start ()
	Starts computation. More...

virtual void	initAction ()
	Initializes the corresponding action. More...

void	throwError (int errCode)

Protected Attributes
ccPointCloud *	m_sceneCloud

CorrespondenceMatchingDialog *	m_dialog

float	m_leafSize

bool	m_useVoxelGrid

bool	m_gcMode

bool	m_verification

int	m_maxThreadCount

float	m_modelSearchRadius

float	m_sceneSearchRadius

float	m_shotDescriptorRadius

int	m_normalKSearch

float	m_consensusResolution

float	m_gcMinClusterSize

float	m_lrfRadius

float	m_houghBinSize

float	m_houghThreshold

int	m_icpMaxIterations

float	m_icpCorrDistance

float	clusterReg = 5.0f

float	inlierThreshold = 0.005f

float	occlusionThreshold = 0.01f

float	radiusClutter = 0.03f

float	regularizer = 3.0f

float	radiusNormals = 0.05f

bool	detectClutter = true

std::vector< float >	m_scales

std::vector< ccPointCloud * >	m_modelClouds

Protected Attributes inherited from BasePclModule
QAction *	m_action
	Forces the Ui to be updated. More...

ccHObject::Container	m_selected
	Pointer to the main window. More...

PclModuleDescription	m_desc
	Associated dialog. More...

ecvMainAppInterface *	m_app
	Associated application interface. More...

ccPluginInterface *	m_parent_plugin
	associated parent plugin of the filter More...

bool	m_show_progress
	Do we want to show a progress bar when the filter works? More...

Additional Inherited Members
Signals inherited from BasePclModule
void	entityHasChanged (ccHObject *)
	Signal emitted when an entity is (visually) modified. More...

void	newEntity (ccHObject *)
	Signal emitted when a new entity is created by the filter. More...

void	newErrorMessage (QString)
	Signal emitted when a new error message is produced. More...

Protected Slots inherited from BasePclModule
int	performAction ()
	Returns is called when the dialog window is accepted. More...

Detailed Description

Correspondence Matching.

Definition at line 18 of file CorrespondenceMatching.h.

Constructor & Destructor Documentation

◆ CorrespondenceMatching()

CorrespondenceMatching::CorrespondenceMatching ( )

Definition at line 30 of file CorrespondenceMatching.cpp.

◆ ~CorrespondenceMatching()

CorrespondenceMatching::~CorrespondenceMatching ( )

virtual

Definition at line 53 of file CorrespondenceMatching.cpp.

References m_dialog.

Member Function Documentation

◆ applyTransformation()

void CorrespondenceMatching::applyTransformation	(	ccHObject *	entity,
		const ccGLMatrixd &	mat
	)

protected

Definition at line 489 of file CorrespondenceMatching.cpp.

References ccHObject::applyGLTransformation_recursive(), ccGLMatrixTpl< T >::data(), and ccDrawableObject::setGLTransformation().

◆ checkParameters()

int CorrespondenceMatching::checkParameters ( )

protectedvirtual

Checks that the parameters retrieved by getParametersFromDialog are valid Automatically called by performAction. Does nothing by default. Must be overridden if necessary.

Returns: 1 if parameters are valid (error code otherwise)

Reimplemented from BasePclModule.

Definition at line 130 of file CorrespondenceMatching.cpp.

References m_modelClouds, and m_sceneCloud.

◆ checkSelected()

int CorrespondenceMatching::checkSelected ( )

protectedvirtual

Checks if current selection is compliant with the filter.

If not, an error is returned and computation stops. By default, baseclass method simply checks that selection is composed of one and only one ccPointCloud. This method should be overridden if necessary.

Returns: 1 if selection is compliant (error code otherwise)

Reimplemented from BasePclModule.

Definition at line 58 of file CorrespondenceMatching.cpp.

References BasePclModule::isFirstSelectedCcPointCloud().

◆ compute()

int CorrespondenceMatching::compute ( )

virtual

Performs the actual filter job.

This method MUST be re-implemented by derived filter

Returns: 1 if successful (error code otherwise)

Generates clouds for each instances found

ICP

Hypothesis Verification

Implements BasePclModule.

Definition at line 137 of file CorrespondenceMatching.cpp.

References ccHObject::addChild(), ccHObject::getChildrenNumber(), ccShiftedObject::getGlobalScale(), ccShiftedObject::getGlobalShift(), CorrespondenceMatchingDialog::getModelCloudByIndex(), ccObject::getName(), ccHObject::getParent(), m_consensusResolution, m_dialog, m_gcMinClusterSize, m_gcMode, m_houghBinSize, m_houghThreshold, m_icpCorrDistance, m_icpMaxIterations, m_leafSize, m_lrfRadius, m_maxThreadCount, m_modelClouds, m_modelSearchRadius, m_normalKSearch, m_sceneCloud, m_sceneSearchRadius, m_shotDescriptorRadius, m_useVoxelGrid, m_verification, BasePclModule::newEntity(), CVLog::Print(), ecvColor::Generator::Random(), ccShiftedObject::setGlobalScale(), ccShiftedObject::setGlobalShift(), ccObject::setName(), ccPointCloud::setRGBColor(), ccDrawableObject::setVisible(), ccDrawableObject::showColors(), ccDrawableObject::showSF(), and size.

◆ getErrorMessage()

QString CorrespondenceMatching::getErrorMessage ( int errorCode )

protectedvirtual

Returns the error message corresponding to a given error code.

Each filter have a set of possible error message to be used given bt getFilterErrorMessage() Baseclass implementation provides some generic messages.

Note: These messages can be replaced by re-implementing this method and handling the same codes BEFORE calling the baseclass method

Reimplemented from BasePclModule.

Definition at line 497 of file CorrespondenceMatching.cpp.

References BasePclModule::getErrorMessage().

◆ getParametersFromDialog()

void CorrespondenceMatching::getParametersFromDialog ( )

protectedvirtual

Collects parameters from the filter dialog (if openDialog is successful)

Automatically called by performAction. Does nothing by default. Must be overridden if necessary.

Reimplemented from BasePclModule.

Definition at line 78 of file CorrespondenceMatching.cpp.

◆ openInputDialog()

int CorrespondenceMatching::openInputDialog ( )

protectedvirtual

Opens the input dialog window. Where the user can supply parameters for the computation Automatically called by performAction. Does nothing by default. Must be overridden if a dialog must be displayed.

Returns: 1 if dialog has been successfully executed, 0 if canceled, negative error code otherwise

Reimplemented from BasePclModule.

Definition at line 66 of file CorrespondenceMatching.cpp.

References BasePclModule::m_app, m_dialog, CorrespondenceMatchingDialog::refreshCloudComboBox(), and CorrespondenceMatchingDialog::saveParamsToPersistentSettings().

Member Data Documentation

◆ clusterReg

float CorrespondenceMatching::clusterReg = 5.0f

protected

Definition at line 64 of file CorrespondenceMatching.h.

◆ detectClutter

bool CorrespondenceMatching::detectClutter = true

protected

Definition at line 70 of file CorrespondenceMatching.h.

◆ inlierThreshold

float CorrespondenceMatching::inlierThreshold = 0.005f

protected

Definition at line 65 of file CorrespondenceMatching.h.

◆ m_consensusResolution

float CorrespondenceMatching::m_consensusResolution

protected

Definition at line 51 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_dialog

CorrespondenceMatchingDialog* CorrespondenceMatching::m_dialog

protected

Definition at line 37 of file CorrespondenceMatching.h.

Referenced by compute(), getParametersFromDialog(), openInputDialog(), and ~CorrespondenceMatching().

◆ m_gcMinClusterSize

float CorrespondenceMatching::m_gcMinClusterSize

protected

Definition at line 52 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_gcMode

bool CorrespondenceMatching::m_gcMode

protected

Definition at line 41 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_houghBinSize

float CorrespondenceMatching::m_houghBinSize

protected

Definition at line 56 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_houghThreshold

float CorrespondenceMatching::m_houghThreshold

protected

Definition at line 57 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_icpCorrDistance

float CorrespondenceMatching::m_icpCorrDistance

protected

Definition at line 61 of file CorrespondenceMatching.h.

Referenced by compute().

◆ m_icpMaxIterations

int CorrespondenceMatching::m_icpMaxIterations

protected

Definition at line 60 of file CorrespondenceMatching.h.

Referenced by compute().

◆ m_leafSize

float CorrespondenceMatching::m_leafSize

protected

Definition at line 39 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_lrfRadius

float CorrespondenceMatching::m_lrfRadius

protected

Definition at line 55 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_maxThreadCount

int CorrespondenceMatching::m_maxThreadCount

protected

Definition at line 43 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_modelClouds

std::vector<ccPointCloud*> CorrespondenceMatching::m_modelClouds

protected

Definition at line 73 of file CorrespondenceMatching.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_modelSearchRadius

float CorrespondenceMatching::m_modelSearchRadius

protected

Definition at line 45 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_normalKSearch

int CorrespondenceMatching::m_normalKSearch

protected

Definition at line 48 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_scales

std::vector<float> CorrespondenceMatching::m_scales

protected

Definition at line 72 of file CorrespondenceMatching.h.

Referenced by getParametersFromDialog().

◆ m_sceneCloud

ccPointCloud* CorrespondenceMatching::m_sceneCloud

protected

Definition at line 36 of file CorrespondenceMatching.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_sceneSearchRadius

float CorrespondenceMatching::m_sceneSearchRadius

protected

Definition at line 46 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_shotDescriptorRadius

float CorrespondenceMatching::m_shotDescriptorRadius

protected

Definition at line 47 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_useVoxelGrid

bool CorrespondenceMatching::m_useVoxelGrid

protected

Definition at line 40 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_verification

bool CorrespondenceMatching::m_verification

protected

Definition at line 42 of file CorrespondenceMatching.h.

Referenced by compute(), and getParametersFromDialog().

◆ occlusionThreshold

float CorrespondenceMatching::occlusionThreshold = 0.01f

protected

Definition at line 66 of file CorrespondenceMatching.h.

◆ radiusClutter

float CorrespondenceMatching::radiusClutter = 0.03f

protected

Definition at line 67 of file CorrespondenceMatching.h.

◆ radiusNormals

float CorrespondenceMatching::radiusNormals = 0.05f

protected

Definition at line 69 of file CorrespondenceMatching.h.

◆ regularizer

float CorrespondenceMatching::regularizer = 3.0f

protected

Definition at line 68 of file CorrespondenceMatching.h.

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

/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Recognitions/CorrespondenceMatching.h
/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Recognitions/CorrespondenceMatching.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CorrespondenceMatching()

◆ ~CorrespondenceMatching()

Member Function Documentation

◆ applyTransformation()

◆ checkParameters()

◆ checkSelected()

◆ compute()

◆ getErrorMessage()

◆ getParametersFromDialog()

◆ openInputDialog()

Member Data Documentation

◆ clusterReg

◆ detectClutter

◆ inlierThreshold

◆ m_consensusResolution

◆ m_dialog

◆ m_gcMinClusterSize

◆ m_gcMode

◆ m_houghBinSize

◆ m_houghThreshold

◆ m_icpCorrDistance

◆ m_icpMaxIterations

◆ m_leafSize

◆ m_lrfRadius

◆ m_maxThreadCount

◆ m_modelClouds

◆ m_modelSearchRadius

◆ m_normalKSearch

◆ m_scales

◆ m_sceneCloud

◆ m_sceneSearchRadius

◆ m_shotDescriptorRadius

◆ m_useVoxelGrid

◆ m_verification

◆ occlusionThreshold

◆ radiusClutter

◆ radiusNormals

◆ regularizer