Point Cloud Library (PCL)  1.9.1-dev
List of all members | Classes | Public Types | Public Member Functions | Protected Member Functions
pcl::registration::LUM< PointT > Class Template Reference

Globally Consistent Scan Matching based on an algorithm by Lu and Milios. More...

#include <pcl/registration/lum.h>

Classes

struct  EdgeProperties
 
struct  VertexProperties
 

Public Types

using Ptr = boost::shared_ptr< LUM< PointT > >
 
using ConstPtr = boost::shared_ptr< const LUM< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using SLAMGraph = boost::adjacency_list< boost::eigen_vecS, boost::eigen_vecS, boost::bidirectionalS, VertexProperties, EdgeProperties, boost::no_property, boost::eigen_listS >
 
using SLAMGraphPtr = boost::shared_ptr< SLAMGraph >
 
using Vertex = typename SLAMGraph::vertex_descriptor
 
using Edge = typename SLAMGraph::edge_descriptor
 

Public Member Functions

 LUM ()
 Empty constructor. More...
 
void setLoopGraph (const SLAMGraphPtr &slam_graph)
 Set the internal SLAM graph structure. More...
 
SLAMGraphPtr getLoopGraph () const
 Get the internal SLAM graph structure. More...
 
SLAMGraph::vertices_size_type getNumVertices () const
 Get the number of vertices in the SLAM graph. More...
 
void setMaxIterations (int max_iterations)
 Set the maximum number of iterations for the compute() method. More...
 
int getMaxIterations () const
 Get the maximum number of iterations for the compute() method. More...
 
void setConvergenceThreshold (float convergence_threshold)
 Set the convergence threshold for the compute() method. More...
 
float getConvergenceThreshold () const
 Get the convergence threshold for the compute() method. More...
 
Vertex addPointCloud (const PointCloudPtr &cloud, const Eigen::Vector6f &pose=Eigen::Vector6f::Zero())
 Add a new point cloud to the SLAM graph. More...
 
void setPointCloud (const Vertex &vertex, const PointCloudPtr &cloud)
 Change a point cloud on one of the SLAM graph's vertices. More...
 
PointCloudPtr getPointCloud (const Vertex &vertex) const
 Return a point cloud from one of the SLAM graph's vertices. More...
 
void setPose (const Vertex &vertex, const Eigen::Vector6f &pose)
 Change a pose estimate on one of the SLAM graph's vertices. More...
 
Eigen::Vector6f getPose (const Vertex &vertex) const
 Return a pose estimate from one of the SLAM graph's vertices. More...
 
Eigen::Affine3f getTransformation (const Vertex &vertex) const
 Return a pose estimate from one of the SLAM graph's vertices as an affine transformation matrix. More...
 
void setCorrespondences (const Vertex &source_vertex, const Vertex &target_vertex, const pcl::CorrespondencesPtr &corrs)
 Add/change a set of correspondences for one of the SLAM graph's edges. More...
 
pcl::CorrespondencesPtr getCorrespondences (const Vertex &source_vertex, const Vertex &target_vertex) const
 Return a set of correspondences from one of the SLAM graph's edges. More...
 
void compute ()
 Perform LUM's globally consistent scan matching. More...
 
PointCloudPtr getTransformedCloud (const Vertex &vertex) const
 Return a point cloud from one of the SLAM graph's vertices compounded onto its current pose estimate. More...
 
PointCloudPtr getConcatenatedCloud () const
 Return a concatenated point cloud of all the SLAM graph's point clouds compounded onto their current pose estimates. More...
 

Protected Member Functions

void computeEdge (const Edge &e)
 Linearized computation of C^-1 and C^-1*D (results stored in slam_graph_). More...
 
Eigen::Matrix6f incidenceCorrection (const Eigen::Vector6f &pose)
 Returns a pose corrected 6DoF incidence matrix. More...
 

Detailed Description

template<typename PointT>
class pcl::registration::LUM< PointT >

Globally Consistent Scan Matching based on an algorithm by Lu and Milios.

A GraphSLAM algorithm where registration data is managed in a graph:

Computation uses the first point cloud in the SLAM graph as a reference pose and attempts to align all other point clouds to it simultaneously. For more information:

Usage example:

// Add point clouds as vertices to the SLAM graph
lum.addPointCloud (cloud_0);
lum.addPointCloud (cloud_1);
lum.addPointCloud (cloud_2);
// Use your favorite pairwise correspondence estimation algorithm(s)
corrs_0_to_1 = someAlgo (cloud_0, cloud_1);
corrs_1_to_2 = someAlgo (cloud_1, cloud_2);
corrs_2_to_0 = someAlgo (lum.getPointCloud (2), lum.getPointCloud (0));
// Add the correspondence results as edges to the SLAM graph
lum.setCorrespondences (0, 1, corrs_0_to_1);
lum.setCorrespondences (1, 2, corrs_1_to_2);
lum.setCorrespondences (2, 0, corrs_2_to_0);
// Change the computation parameters
// Perform the actual LUM computation
lum.compute ();
// Return the concatenated point cloud result
cloud_out = lum.getConcatenatedCloud ();
// Return the separate point cloud transformations
for(int i = 0; i < lum.getNumVertices (); i++)
{
transforms_out[i] = lum.getTransformation (i);
}
Author
Frits Florentinus, Jochen Sprickerhof

Definition at line 110 of file lum.h.

Member Typedef Documentation

template<typename PointT>
using pcl::registration::LUM< PointT >::ConstPtr = boost::shared_ptr<const LUM<PointT> >

Definition at line 114 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::Edge = typename SLAMGraph::edge_descriptor

Definition at line 137 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 116 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 118 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 117 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::Ptr = boost::shared_ptr<LUM<PointT> >

Definition at line 113 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::SLAMGraph = boost::adjacency_list<boost::eigen_vecS, boost::eigen_vecS, boost::bidirectionalS, VertexProperties, EdgeProperties, boost::no_property, boost::eigen_listS>

Definition at line 134 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::SLAMGraphPtr = boost::shared_ptr<SLAMGraph>

Definition at line 135 of file lum.h.

template<typename PointT>
using pcl::registration::LUM< PointT >::Vertex = typename SLAMGraph::vertex_descriptor

Definition at line 136 of file lum.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::registration::LUM< PointT >::LUM ( )
inline

Empty constructor.

Definition at line 141 of file lum.h.

References pcl::getTransformation().

Member Function Documentation

template<typename PointT >
pcl::registration::LUM< PointT >::Vertex pcl::registration::LUM< PointT >::addPointCloud ( const PointCloudPtr cloud,
const Eigen::Vector6f pose = Eigen::Vector6f::Zero () 
)

Add a new point cloud to the SLAM graph.

This method will add a new vertex to the SLAM graph and attach a point cloud to that vertex. Optionally you can specify a pose estimate for this point cloud. A vertex' pose is always relative to the first vertex in the SLAM graph, i.e. the first point cloud that was added. Because this first vertex is the reference, you can not set a pose estimate for this vertex. Providing pose estimates to the vertices in the SLAM graph will reduce overall computation time of LUM.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]cloudThe new point cloud.
[in]pose(optional) The pose estimate relative to the reference pose (first point cloud that was added).
Returns
The vertex descriptor of the newly created vertex.

Definition at line 97 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::compute ( )

Perform LUM's globally consistent scan matching.

Computation uses the first point cloud in the SLAM graph as a reference pose and attempts to align all other point clouds to it simultaneously.
Things to keep in mind:

  • Only those parts of the graph connected to the reference pose will properly align to it.
  • All sets of correspondences should span the same space and need to be sufficient to determine a rigid transformation.
  • The algorithm draws it strength from loops in the graph because it will distribute errors evenly amongst those loops.

Computation ends when either of the following conditions hold:

Computation will change the pose estimates for the vertices of the SLAM graph, not the point clouds attached to them. The results can be retrieved with getPose(), getTransformation(), getTransformedCloud() or getConcatenatedCloud().

Definition at line 211 of file lum.hpp.

References pcl::B.

template<typename PointT >
void pcl::registration::LUM< PointT >::computeEdge ( const Edge e)
protected

Linearized computation of C^-1 and C^-1*D (results stored in slam_graph_).

Definition at line 299 of file lum.hpp.

References pcl::getTransformation().

template<typename PointT >
pcl::registration::LUM< PointT >::PointCloudPtr pcl::registration::LUM< PointT >::getConcatenatedCloud ( ) const

Return a concatenated point cloud of all the SLAM graph's point clouds compounded onto their current pose estimates.

Returns
The concatenated transformed point clouds of the entire SLAM graph.

Definition at line 284 of file lum.hpp.

References pcl::getTransformation(), and pcl::transformPointCloud().

template<typename PointT >
float pcl::registration::LUM< PointT >::getConvergenceThreshold ( ) const
inline

Get the convergence threshold for the compute() method.

When the compute() method computes the new poses relative to the old poses, it will determine the length of the difference vector. When the average length of all difference vectors becomes less than the convergence_threshold the convergence is assumed to be met.

Returns
The current convergence threshold (default = 0.0).

Definition at line 90 of file lum.hpp.

template<typename PointT >
pcl::CorrespondencesPtr pcl::registration::LUM< PointT >::getCorrespondences ( const Vertex source_vertex,
const Vertex target_vertex 
) const
inline

Return a set of correspondences from one of the SLAM graph's edges.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]source_vertexThe vertex descriptor of the correspondences' source point cloud.
[in]target_vertexThe vertex descriptor of the correspondences' target point cloud.
Returns
The current set of correspondences of that edge.

Definition at line 191 of file lum.hpp.

template<typename PointT >
pcl::registration::LUM< PointT >::SLAMGraphPtr pcl::registration::LUM< PointT >::getLoopGraph ( ) const
inline

Get the internal SLAM graph structure.

All data used and produced by LUM is stored in this boost::adjacency_list. It is recommended to use the LUM class itself to build the graph. This method could otherwise be useful for managing several SLAM graphs in one instance of LUM.

Returns
The current SLAM graph.

Definition at line 55 of file lum.hpp.

template<typename PointT >
int pcl::registration::LUM< PointT >::getMaxIterations ( ) const
inline

Get the maximum number of iterations for the compute() method.

The compute() method finishes when max_iterations are met or when the convergence criteria is met.

Returns
The current maximum number of iterations (default = 5).

Definition at line 76 of file lum.hpp.

template<typename PointT >
pcl::registration::LUM< PointT >::SLAMGraph::vertices_size_type pcl::registration::LUM< PointT >::getNumVertices ( ) const

Get the number of vertices in the SLAM graph.

Returns
The current number of vertices in the SLAM graph.

Definition at line 62 of file lum.hpp.

template<typename PointT >
pcl::registration::LUM< PointT >::PointCloudPtr pcl::registration::LUM< PointT >::getPointCloud ( const Vertex vertex) const
inline

Return a point cloud from one of the SLAM graph's vertices.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to return the point cloud.
Returns
The current point cloud for that vertex.

Definition at line 125 of file lum.hpp.

template<typename PointT >
Eigen::Vector6f pcl::registration::LUM< PointT >::getPose ( const Vertex vertex) const
inline

Return a pose estimate from one of the SLAM graph's vertices.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to return the pose estimate.
Returns
The current pose estimate of that vertex.

Definition at line 154 of file lum.hpp.

template<typename PointT >
Eigen::Affine3f pcl::registration::LUM< PointT >::getTransformation ( const Vertex vertex) const
inline

Return a pose estimate from one of the SLAM graph's vertices as an affine transformation matrix.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to return the transformation matrix.
Returns
The current transformation matrix of that vertex.

Definition at line 166 of file lum.hpp.

References pcl::getTransformation().

template<typename PointT >
pcl::registration::LUM< PointT >::PointCloudPtr pcl::registration::LUM< PointT >::getTransformedCloud ( const Vertex vertex) const

Return a point cloud from one of the SLAM graph's vertices compounded onto its current pose estimate.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to return the transformed point cloud.
Returns
The transformed point cloud of that vertex.

Definition at line 275 of file lum.hpp.

References pcl::getTransformation(), and pcl::transformPointCloud().

template<typename PointT >
Eigen::Matrix6f pcl::registration::LUM< PointT >::incidenceCorrection ( const Eigen::Vector6f pose)
inlineprotected

Returns a pose corrected 6DoF incidence matrix.

Definition at line 403 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setConvergenceThreshold ( float  convergence_threshold)

Set the convergence threshold for the compute() method.

When the compute() method computes the new poses relative to the old poses, it will determine the length of the difference vector. When the average length of all difference vectors becomes less than the convergence_threshold the convergence is assumed to be met.

Parameters
[in]convergence_thresholdThe new convergence threshold (default = 0.0).

Definition at line 83 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setCorrespondences ( const Vertex source_vertex,
const Vertex target_vertex,
const pcl::CorrespondencesPtr corrs 
)

Add/change a set of correspondences for one of the SLAM graph's edges.

The edges in the SLAM graph are directional and point from source vertex to target vertex. The query indices of the correspondences, index the points at the source vertex' point cloud. The matching indices of the correspondences, index the points at the target vertex' point cloud. If no edge was present at the specified location, this method will add a new edge to the SLAM graph and attach the correspondences to that edge. If the edge was already present, this method will overwrite the correspondence information of that edge and will not alter the SLAM graph structure.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]source_vertexThe vertex descriptor of the correspondences' source point cloud.
[in]target_vertexThe vertex descriptor of the correspondences' target point cloud.
[in]corrsThe new set of correspondences for that edge.

Definition at line 174 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setLoopGraph ( const SLAMGraphPtr slam_graph)
inline

Set the internal SLAM graph structure.

All data used and produced by LUM is stored in this boost::adjacency_list. It is recommended to use the LUM class itself to build the graph. This method could otherwise be useful for managing several SLAM graphs in one instance of LUM.

Parameters
[in]slam_graphThe new SLAM graph.

Definition at line 48 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setMaxIterations ( int  max_iterations)

Set the maximum number of iterations for the compute() method.

The compute() method finishes when max_iterations are met or when the convergence criteria is met.

Parameters
[in]max_iterationsThe new maximum number of iterations (default = 5).

Definition at line 69 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setPointCloud ( const Vertex vertex,
const PointCloudPtr cloud 
)
inline

Change a point cloud on one of the SLAM graph's vertices.

This method will change the point cloud attached to an existing vertex and will not alter the SLAM graph structure. Note that the correspondences attached to this vertex will not change and may need to be updated manually.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to change the point cloud.
[in]cloudThe new point cloud for that vertex.

Definition at line 113 of file lum.hpp.

template<typename PointT >
void pcl::registration::LUM< PointT >::setPose ( const Vertex vertex,
const Eigen::Vector6f pose 
)
inline

Change a pose estimate on one of the SLAM graph's vertices.

A vertex' pose is always relative to the first vertex in the SLAM graph, i.e. the first point cloud that was added. Because this first vertex is the reference, you can not set a pose estimate for this vertex. Providing pose estimates to the vertices in the SLAM graph will reduce overall computation time of LUM.

Note
Vertex descriptors are typecastable to int.
Parameters
[in]vertexThe vertex descriptor of which to set the pose estimate.
[in]poseThe new pose estimate for that vertex.

Definition at line 137 of file lum.hpp.


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