Method grorPreparation

src/gror_pre.cpp:110–153

}

void GrorPre::grorPreparation(pcl::PointCloud<pcl::PointXYZ>::Ptr origin_cloudS, pcl::PointCloud<pcl::PointXYZ>::Ptr origin_cloudT,pcl::PointCloud<pcl::PointXYZ>::Ptr cloudS, pcl::PointCloud<pcl::PointXYZ>::Ptr cloudT, pcl::PointCloud<pcl::PointXYZ>::Ptr issS, pcl::PointCloud<pcl::PointXYZ>::Ptr issT, pcl::CorrespondencesPtr corr,double resolution)
{
	int max_corr = 5;// neighbor number in descriptor searching
	auto t = std::chrono::system_clock::now();
	/*=============down sample point cloud by voxel grid filter=================*/
	std::cout << "/*voxel grid sampling......" << resolution << std::endl;
	GrorPre::voxelGridFilter(origin_cloudS, cloudS, resolution);
	GrorPre::voxelGridFilter(origin_cloudT, cloudT, resolution);
	
	auto t1 = std::chrono::system_clock::now();
	std::cout << "/*Down!: time consumption of cloud down sample : " << double(std::chrono::duration_cast<std::chrono::milliseconds>(t1 - t).count()) / 1000.0 << std::endl;
	std::cout << "/*=================================================*/" << std::endl;

	/*=========================extract iss key points===========================*/
	std::cout << "/*extracting ISS keypoints......" << std::endl;
	pcl::PointIndicesPtr iss_IdxS(new pcl::PointIndices);
	pcl::PointIndicesPtr iss_IdxT(new pcl::PointIndices);
	GrorPre::issKeyPointExtration(cloudS, issS, iss_IdxS, resolution);
	GrorPre::issKeyPointExtration(cloudT, issT, iss_IdxT, resolution);
	auto t2 = std::chrono::system_clock::now();
	std::cout << "/*Down!: time consumption of iss key point extraction: " << double(std::chrono::duration_cast<std::chrono::milliseconds>(t2 - t1).count()) / 1000.0 << std::endl;
	std::cout << "/*=================================================*/" << std::endl;


	/*======================fpfh descriptor computation=========================*/
	std::cout << "/*fpfh descriptor computation......" << std::endl;
	pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfhS(new pcl::PointCloud<pcl::FPFHSignature33>());
	pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfhT(new pcl::PointCloud<pcl::FPFHSignature33>());
	GrorPre::fpfhComputation(cloudS, resolution, iss_IdxS, fpfhS);
	GrorPre::fpfhComputation(cloudT, resolution, iss_IdxT, fpfhT);
	auto t3 = std::chrono::system_clock::now();
	std::cout << "/*Down!: time consumption of fpfh descriptor computation: " << double(std::chrono::duration_cast<std::chrono::milliseconds>(t3 - t2).count()) / 1000.0 << std::endl;
	std::cout << "/*size of issS = " << issS->size() << "; size of issT = " << issT->size() << std::endl;
	std::cout << "/*=================================================*/" << std::endl;

	/*========================correspondences matching=========================*/
	std::cout << "/*matching correspondences..." << std::endl;
	std::vector<int> corr_NOS, corr_NOT;
	GrorPre::correspondenceSearching(fpfhS, fpfhT, *corr, max_corr, corr_NOS, corr_NOT);
	auto t4 = std::chrono::system_clock::now();
	std::cout << "/*Down!: time consumption of matching correspondences: " << double(std::chrono::duration_cast<std::chrono::milliseconds>(t4 - t3).count()) / 1000.0 << std::endl;
	std::cout << "/*number of correspondences= " << corr->size() << std::endl;
	std::cout << "/*=================================================*/" << std::endl;
}

void GrorPre::grorPreparation(pcl::PointCloud<pcl::PointXYZ>::Ptr origin_cloudS, pcl::PointCloud<pcl::PointXYZ>::Ptr origin_cloudT, pcl::PointCloud<pcl::PointXYZ>::Ptr cloudS, pcl::PointCloud<pcl::PointXYZ>::Ptr cloudT, pcl::PointCloud<pcl::PointXYZ>::Ptr issS, pcl::PointCloud<pcl::PointXYZ>::Ptr issT, Eigen::Vector3f &centerS, Eigen::Vector3f &centerT, pcl::CorrespondencesPtr corr, double resolution)
{