Point Cloud Library (PCL)
1.7.1
|
IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend. More...
#include <pcl/registration/icp_nl.h>
Public Member Functions | |
IterativeClosestPointNonLinear () | |
Empty constructor. More... | |
![]() | |
IterativeClosestPoint () | |
Empty constructor. More... | |
virtual | ~IterativeClosestPoint () |
Empty destructor. More... | |
pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr | getConvergeCriteria () |
Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class. More... | |
virtual void | setInputSource (const PointCloudSourceConstPtr &cloud) |
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... | |
virtual void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
Provide a pointer to the input target (e.g., the point cloud that we want to align to the target) More... | |
void | setUseReciprocalCorrespondences (bool use_reciprocal_correspondence) |
Set whether to use reciprocal correspondence or not. More... | |
bool | getUseReciprocalCorrespondences () const |
Obtain whether reciprocal correspondence are used or not. More... | |
![]() | |
Registration () | |
Empty constructor. More... | |
virtual | ~Registration () |
destructor. More... | |
void | setTransformationEstimation (const TransformationEstimationPtr &te) |
Provide a pointer to the transformation estimation object. More... | |
void | setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) |
Provide a pointer to the correspondence estimation object. More... | |
PCL_DEPRECATED (void setInputCloud(const PointCloudSourceConstPtr &cloud),"[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.") | |
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... | |
PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud(),"[pcl::registration::Registration::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.") | |
Get a pointer to the input point cloud dataset target. More... | |
virtual void | setInputSource (const PointCloudSourceConstPtr &cloud) |
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... | |
PointCloudSourceConstPtr const | getInputSource () |
Get a pointer to the input point cloud dataset target. More... | |
virtual void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More... | |
PointCloudTargetConstPtr const | getInputTarget () |
Get a pointer to the input point cloud dataset target. More... | |
void | setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the target cloud. More... | |
KdTreePtr | getSearchMethodTarget () const |
Get a pointer to the search method used to find correspondences in the target cloud. More... | |
void | setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More... | |
KdTreeReciprocalPtr | getSearchMethodSource () const |
Get a pointer to the search method used to find correspondences in the source cloud. More... | |
Matrix4 | getFinalTransformation () |
Get the final transformation matrix estimated by the registration method. More... | |
Matrix4 | getLastIncrementalTransformation () |
Get the last incremental transformation matrix estimated by the registration method. More... | |
void | setMaximumIterations (int nr_iterations) |
Set the maximum number of iterations the internal optimization should run for. More... | |
int | getMaximumIterations () |
Get the maximum number of iterations the internal optimization should run for, as set by the user. More... | |
void | setRANSACIterations (int ransac_iterations) |
Set the number of iterations RANSAC should run for. More... | |
double | getRANSACIterations () |
Get the number of iterations RANSAC should run for, as set by the user. More... | |
void | setRANSACOutlierRejectionThreshold (double inlier_threshold) |
Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More... | |
double | getRANSACOutlierRejectionThreshold () |
Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More... | |
void | setMaxCorrespondenceDistance (double distance_threshold) |
Set the maximum distance threshold between two correspondent points in source <-> target. More... | |
double | getMaxCorrespondenceDistance () |
Get the maximum distance threshold between two correspondent points in source <-> target. More... | |
void | setTransformationEpsilon (double epsilon) |
Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More... | |
double | getTransformationEpsilon () |
Get the transformation epsilon (maximum allowable difference between two consecutive transformations) as set by the user. More... | |
void | setEuclideanFitnessEpsilon (double epsilon) |
Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More... | |
double | getEuclideanFitnessEpsilon () |
Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More... | |
void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More... | |
template<typename FunctionSignature > | |
bool | registerVisualizationCallback (boost::function< FunctionSignature > &visualizerCallback) |
Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More... | |
double | getFitnessScore (double max_range=std::numeric_limits< double >::max()) |
Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) More... | |
double | getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b) |
Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More... | |
bool | hasConverged () |
Return the state of convergence after the last align run. More... | |
void | align (PointCloudSource &output) |
Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... | |
void | align (PointCloudSource &output, const Matrix4 &guess) |
Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... | |
const std::string & | getClassName () const |
Abstract class get name method. More... | |
bool | initCompute () |
Internal computation initalization. More... | |
bool | initComputeReciprocal () |
Internal computation when reciprocal lookup is needed. More... | |
void | addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector) |
Add a new correspondence rejector to the list. More... | |
std::vector < CorrespondenceRejectorPtr > | getCorrespondenceRejectors () |
Get the list of correspondence rejectors. More... | |
bool | removeCorrespondenceRejector (unsigned int i) |
Remove the i-th correspondence rejector in the list. More... | |
void | clearCorrespondenceRejectors () |
Clear the list of correspondence rejectors. More... | |
![]() | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointSource & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
![]() | |
pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr | convergence_criteria_ |
![]() | |
virtual void | transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform) |
Apply a rigid transform to a given dataset. More... | |
virtual void | computeTransformation (PointCloudSource &output, const Matrix4 &guess) |
Rigid transformation computation method with initial guess. More... | |
![]() | |
bool | searchForNeighbors (const PointCloudSource &cloud, int index, std::vector< int > &indices, std::vector< float > &distances) |
Search for the closest nearest neighbor of a given point. More... | |
![]() | |
bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
![]() | |
size_t | x_idx_offset_ |
XYZ fields offset. More... | |
size_t | y_idx_offset_ |
size_t | z_idx_offset_ |
size_t | nx_idx_offset_ |
Normal fields offset. More... | |
size_t | ny_idx_offset_ |
size_t | nz_idx_offset_ |
bool | use_reciprocal_correspondence_ |
The correspondence type used for correspondence estimation. More... | |
bool | source_has_normals_ |
Internal check whether source dataset has normals or not. More... | |
bool | target_has_normals_ |
Internal check whether target dataset has normals or not. More... | |
![]() | |
std::string | reg_name_ |
The registration method name. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
KdTreeReciprocalPtr | tree_reciprocal_ |
A pointer to the spatial search object of the source. More... | |
int | nr_iterations_ |
The number of iterations the internal optimization ran for (used internally). More... | |
int | max_iterations_ |
The maximum number of iterations the internal optimization should run for. More... | |
int | ransac_iterations_ |
The number of iterations RANSAC should run for. More... | |
PointCloudTargetConstPtr | target_ |
The input point cloud dataset target. More... | |
Matrix4 | final_transformation_ |
The final transformation matrix estimated by the registration method after N iterations. More... | |
Matrix4 | transformation_ |
The transformation matrix estimated by the registration method. More... | |
Matrix4 | previous_transformation_ |
The previous transformation matrix estimated by the registration method (used internally). More... | |
double | transformation_epsilon_ |
The maximum difference between two consecutive transformations in order to consider convergence (user defined). More... | |
double | euclidean_fitness_epsilon_ |
The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More... | |
double | corr_dist_threshold_ |
The maximum distance threshold between two correspondent points in source <-> target. More... | |
double | inlier_threshold_ |
The inlier distance threshold for the internal RANSAC outlier rejection loop. More... | |
bool | converged_ |
Holds internal convergence state, given user parameters. More... | |
int | min_number_correspondences_ |
The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More... | |
CorrespondencesPtr | correspondences_ |
The set of correspondences determined at this ICP step. More... | |
TransformationEstimationPtr | transformation_estimation_ |
A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More... | |
CorrespondenceEstimationPtr | correspondence_estimation_ |
A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More... | |
std::vector < CorrespondenceRejectorPtr > | correspondence_rejectors_ |
The list of correspondence rejectors to use. More... | |
bool | target_cloud_updated_ |
Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More... | |
bool | source_cloud_updated_ |
Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More... | |
bool | force_no_recompute_ |
A flag which, if set, means the tree operating on the target cloud will never be recomputed. More... | |
bool | force_no_recompute_reciprocal_ |
A flag which, if set, means the tree operating on the source cloud will never be recomputed. More... | |
boost::function< void(const pcl::PointCloud< PointSource > &cloud_src, const std::vector < int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector < int > &indices_tgt)> | update_visualizer_ |
Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More... | |
![]() | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend.
The resultant transformation is optimized as a quaternion.
The algorithm has several termination criteria:
typedef boost::shared_ptr< const IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::ConstPtr |
typedef Registration<PointSource, PointTarget, Scalar>::Matrix4 pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::Matrix4 |
typedef boost::shared_ptr< IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::Ptr |
|
inline |
Empty constructor.
Definition at line 83 of file icp_nl.h.
References pcl::Registration< PointSource, PointTarget, Scalar >::min_number_correspondences_, pcl::Registration< PointSource, PointTarget, Scalar >::reg_name_, and pcl::Registration< PointSource, PointTarget, Scalar >::transformation_estimation_.