Point Cloud Library (PCL)  1.7.1
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pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar > Class Template Reference

IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend. More...

#include <pcl/registration/icp_nl.h>

+ Inheritance diagram for pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >:

Public Types

typedef boost::shared_ptr
< IterativeClosestPointNonLinear
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const
IterativeClosestPointNonLinear
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef Registration
< PointSource, PointTarget,
Scalar >::Matrix4 
Matrix4
 
- Public Types inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
typedef Registration
< PointSource, PointTarget,
Scalar >::PointCloudSource 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef Registration
< PointSource, PointTarget,
Scalar >::PointCloudTarget 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef boost::shared_ptr
< IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef Registration
< PointSource, PointTarget,
Scalar >::Matrix4 
Matrix4
 
- Public Types inherited from pcl::Registration< PointSource, PointTarget, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 > Matrix4
 
typedef boost::shared_ptr
< Registration< PointSource,
PointTarget, Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const Registration
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef
pcl::registration::CorrespondenceRejector::Ptr 
CorrespondenceRejectorPtr
 
typedef pcl::search::KdTree
< PointTarget > 
KdTree
 
typedef pcl::search::KdTree
< PointTarget >::Ptr 
KdTreePtr
 
typedef pcl::search::KdTree
< PointSource > 
KdTreeReciprocal
 
typedef KdTree::Ptr KdTreeReciprocalPtr
 
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef
KdTree::PointRepresentationConstPtr 
PointRepresentationConstPtr
 
typedef
pcl::registration::TransformationEstimation
< PointSource, PointTarget,
Scalar > 
TransformationEstimation
 
typedef
TransformationEstimation::Ptr 
TransformationEstimationPtr
 
typedef
TransformationEstimation::ConstPtr 
TransformationEstimationConstPtr
 
typedef
pcl::registration::CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > 
CorrespondenceEstimation
 
typedef
CorrespondenceEstimation::Ptr 
CorrespondenceEstimationPtr
 
typedef
CorrespondenceEstimation::ConstPtr 
CorrespondenceEstimationConstPtr
 
- Public Types inherited from pcl::PCLBase< PointSource >
typedef pcl::PointCloud
< PointSource > 
PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 IterativeClosestPointNonLinear ()
 Empty constructor. More...
 
- Public Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
 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...
 
- Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
 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...
 
PointCloudSourceConstPtr const getInputSource ()
 Get a pointer to the input point cloud dataset target. 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointSource >
 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

- Public Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
pcl::registration::DefaultConvergenceCriteria
< Scalar >::Ptr 
convergence_criteria_
 
- Protected Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
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...
 
- Protected Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
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...
 

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >

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:

  1. Number of iterations has reached the maximum user imposed number of iterations (via setMaximumIterations)
  2. The epsilon (difference) between the previous transformation and the current estimated transformation is smaller than an user imposed value (via setTransformationEpsilon)
  3. The sum of Euclidean squared errors is smaller than a user defined threshold (via setEuclideanFitnessEpsilon)
Author
Radu B. Rusu, Michael Dixon

Definition at line 68 of file icp_nl.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr< const IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::ConstPtr

Definition at line 78 of file icp_nl.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef Registration<PointSource, PointTarget, Scalar>::Matrix4 pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::Matrix4

Definition at line 80 of file icp_nl.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr< IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::Ptr

Definition at line 77 of file icp_nl.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar >::IterativeClosestPointNonLinear ( )
inline

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