Point Cloud Library (PCL) 1.12.0
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icp_nl.h
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40
41#pragma once
42
43// PCL includes
44#include <pcl/registration/icp.h>
45#include <pcl/registration/transformation_estimation_lm.h>
46
47namespace pcl {
48/** \brief @b IterativeClosestPointNonLinear is an ICP variant that uses
49 * Levenberg-Marquardt optimization backend. The resultant transformation is optimized
50 * as a quaternion.
51 *
52 * The algorithm has several termination criteria:
53 *
54 * <ol>
55 * <li>Number of iterations has reached the maximum user imposed number of iterations
56 * (via \ref setMaximumIterations)</li>
57 * <li>The epsilon (difference) between the previous transformation and the current
58 * estimated transformation is smaller than an user imposed value (via \ref
59 * setTransformationEpsilon)</li> <li>The sum of Euclidean squared errors is smaller
60 * than a user defined threshold (via \ref setEuclideanFitnessEpsilon)</li>
61 * </ol>
62 *
63 * \author Radu B. Rusu, Michael Dixon
64 * \ingroup registration
65 */
66template <typename PointSource, typename PointTarget, typename Scalar = float>
68: public IterativeClosestPoint<PointSource, PointTarget, Scalar> {
69 using IterativeClosestPoint<PointSource, PointTarget, Scalar>::
71 using IterativeClosestPoint<PointSource, PointTarget, Scalar>::reg_name_;
72 using IterativeClosestPoint<PointSource, PointTarget, Scalar>::
74 using IterativeClosestPoint<PointSource, PointTarget, Scalar>::computeTransformation;
75
76public:
77 using Ptr =
78 shared_ptr<IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar>>;
79 using ConstPtr = shared_ptr<
81
83
84 /** \brief Empty constructor. */
86 {
88 reg_name_ = "IterativeClosestPointNonLinear";
89
92 TransformationEstimationLM<PointSource, PointTarget, Scalar>);
93 }
94};
95} // namespace pcl
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
Definition icp.h:97
void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override
Rigid transformation computation method with initial guess.
Definition icp.hpp:114
IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend.
Definition icp_nl.h:68
typename Registration< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition icp_nl.h:82
shared_ptr< const IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar > > ConstPtr
Definition icp_nl.h:80
shared_ptr< IterativeClosestPointNonLinear< PointSource, PointTarget, Scalar > > Ptr
Definition icp_nl.h:78
IterativeClosestPointNonLinear()
Empty constructor.
Definition icp_nl.h:85
std::string reg_name_
The registration method name.
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimationPtr transformation_estimation_
A TransformationEstimation object, used to calculate the 4x4 rigid transformation.
int min_number_correspondences_
The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...