PointCloudOverlapAlgorithm Class Reference

#include <ImFusion/Vision/PointCloudOverlapAlgorithm.h>

Computes the geometric overlap between multiple dense, calibrated point clouds. More...

Inheritance diagram for PointCloudOverlapAlgorithm:

Detailed Description

Computes the geometric overlap between multiple dense, calibrated point clouds.

This algorithm estimates the fraction of points in one cloud that have a close and similarly oriented counterpart in another cloud. It is intended for quality assessment, registration validation, and dataset analysis. Overlap is computed pairwise for all input clouds, and can be visualized or exported.

The algorithm supports configuration of distance and angle thresholds (in world units and degrees), bidirectional overlap computation, and optional export of colored overlap point clouds.

Ownership: The input point clouds are not owned by this class and must remain valid for the lifetime of the algorithm.

Example usage:

std::vector<PointCloud*> clouds;  // must be dense calibrated
PointCloudOverlapAlgorithm algo(clouds);
algo.setMatchingDistanceThreshold(2.0); // in world units
algo.setMatchingAngleThreshold(30.0);   // in degrees
algo.compute();
double overlap = algo.overlap(0, 1);    // overlap from cloud 0 to cloud 1
auto rms = algo.rms(0, 1);              // RMS error and count
auto results = algo.takeOutput();       // colored overlap clouds (if enabled)

Preconditions:

• All input clouds must be dense and calibrated (see PointCloud::isDenseCalibrated()).
• Call compute() before accessing overlap or RMS results.

Thread safety: Not thread-safe.

Public Member Functions
	PointCloudOverlapAlgorithm (const std::vector< PointCloud * > &pointClouds)
	Create the algorithm for a set of point clouds.
void	setComputeOverlapMap (bool v)
	Enable or disable computation of overlap maps (per-point overlap flags).
bool	computeOverlapMap () const
void	setComputeRMS (bool v)
	Enable or disable computation of RMS error statistics.
bool	computeRMS () const
void	setExportOverlapPointClouds (bool exportOverlapPointClouds)
	Enable or disable export of colored overlap point clouds.
bool	exportOverlapPointClouds () const
void	setMatchingDistanceThreshold (double thresh)
	Set the distance threshold for point matching (in world units, >= 0).
double	matchingDistanceThreshold () const
void	setMatchingAngleThreshold (double thresh)
	Set the angle threshold for point matching (in degrees, >= 0).
double	matchingAngleThreshold () const
void	setComputeBidirectionalOverlap (bool v)
	Enable or disable bidirectional overlap computation.
bool	computeBidirectionalOverlap () const
void	compute () override
	Run the overlap computation.
OwningDataList	takeOutput () override
	Returns colored overlap point clouds if export is enabled.
double	overlap (int idxSource, int idxTarget, std::vector< bool > *overlap=nullptr) const
	Returns the overlap factor [0,1] from source to target cloud.
Eigen::MatrixXd	overlap () const
	Returns the full overlap matrix (source x target).
std::pair< double, int >	rms (int idxSource, int idxTarget) const
	Returns RMS error and number of matched points between source and target.
std::vector< std::unordered_map< int, std::pair< double, int > > >	rms () const
	Returns all RMS error statistics.
void	configure (const Properties *p) override
	Configure the algorithm with the given properties.
void	configuration (Properties *p) const override
	Retrieve the current configuration of the algorithm.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory method: Checks if the data contains at least two dense, calibrated point clouds.
Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Protected Member Functions
bool	initCL ()
	Initializes OpenCL resources.
void	cleanupCL ()
bool	initBuffers ()
	Initializes internal buffers for point cloud data.
void	clearBuffers ()
double	computeOverlap (int idxSource, int idxTarget, std::vector< bool > *overlapping, std::pair< double, int > *rms=nullptr)
	Computes overlap and optionally per-point flags and RMS.
Protected Member Functions inherited from Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.

Additional Inherited Members
Public Types inherited from Algorithm
enum	Status {   Unknown = -1 , Success = 0 , Error = 1 , InvalidInput ,   IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU ,   UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute()
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Constructor & Destructor Documentation

PointCloudOverlapAlgorithm()

PointCloudOverlapAlgorithm

(

const std::vector< PointCloud * > &

pointClouds

)

Create the algorithm for a set of point clouds.

Parameters

pointClouds

Vector of pointers to input point clouds (not owned, must remain valid).

Member Function Documentation

createCompatible()

static bool createCompatible ( const DataList & data, Algorithm ** a = nullptr )

static

Factory method: Checks if the data contains at least two dense, calibrated point clouds.

If so, creates the algorithm instance.

Parameters

data	Input data list.
a	Optional pointer to store the created algorithm instance.

Returns

True if compatible, false otherwise.

compute()

void compute ( )

overridevirtual

Run the overlap computation.

Preconditions: All input clouds must be dense and calibrated.

Implements Algorithm.

takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns colored overlap point clouds if export is enabled.

Ownership of returned data is transferred to the caller.

Reimplemented from Algorithm.

overlap()

double overlap	(	int	idxSource,
		int	idxTarget,
		std::vector< bool > *	overlap = nullptr ) const

Returns the overlap factor [0,1] from source to target cloud.

Optionally fills a vector with per-point overlap flags.

Parameters

idxSource	Index of the source point cloud.
idxTarget	Index of the target point cloud.
overlap	Optional pointer to vector<bool> (size: source cloud).

Returns

Overlap factor (fraction of overlapping points).

rms()

std::pair< double, int > rms	(	int	idxSource,
		int	idxTarget ) const

Returns RMS error and number of matched points between source and target.

Parameters

idxSource	Index of the source point cloud.
idxTarget	Index of the target point cloud.

Returns

Pair: RMS error (world units), number of matched points.

configure()

void configure ( const Properties * p )

overridevirtual

Configure the algorithm with the given properties.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Retrieve the current configuration of the algorithm.

Reimplemented from Configurable.

initCL()

bool initCL ( )

protected

Initializes OpenCL resources.

Exceptions

std::runtime_error

if OpenCL context or kernel creation fails.

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

• ImFusion/Vision/PointCloudOverlapAlgorithm.h