IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default. More...

#include <pcl/registration/icp.h>

Inheritance diagram for pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >:

Public Types
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudSource	PointCloudSource
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudTarget	PointCloudTarget
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef boost::shared_ptr < IterativeClosestPoint < PointSource, PointTarget, Scalar > >	Ptr
typedef boost::shared_ptr < const IterativeClosestPoint < PointSource, PointTarget, Scalar > >	ConstPtr
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
	IterativeClosestPointWithNormals ()
	Empty constructor.
virtual	~IterativeClosestPointWithNormals ()
	Empty destructor.
Public Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
	IterativeClosestPoint ()
	Empty constructor.
virtual	~IterativeClosestPoint ()
	Empty destructor.
pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr	getConvergeCriteria ()
	Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class.
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)
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)
void	setUseReciprocalCorrespondences (bool use_reciprocal_correspondence)
	Set whether to use reciprocal correspondence or not.
bool	getUseReciprocalCorrespondences () const
	Obtain whether reciprocal correspondence are used or not.
Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
	Registration ()
	Empty constructor.
virtual	~Registration ()
	destructor.
void	setTransformationEstimation (const TransformationEstimationPtr &te)
	Provide a pointer to the transformation estimation object.
void	setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce)
	Provide a pointer to the correspondence estimation object.
void	setInputCloud (const PointCloudSourceConstPtr &cloud)
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)
PointCloudSourceConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset target.
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)
PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target.
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)
PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target.
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.
KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud.
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).
KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud.
Matrix4	getFinalTransformation ()
	Get the final transformation matrix estimated by the registration method.
Matrix4	getLastIncrementalTransformation ()
	Get the last incremental transformation matrix estimated by the registration method.
void	setMaximumIterations (int nr_iterations)
	Set the maximum number of iterations the internal optimization should run for.
int	getMaximumIterations ()
	Get the maximum number of iterations the internal optimization should run for, as set by the user.
void	setRANSACIterations (int ransac_iterations)
	Set the number of iterations RANSAC should run for.
double	getRANSACIterations ()
	Get the number of iterations RANSAC should run for, as set by the user.
void	setRANSACOutlierRejectionThreshold (double inlier_threshold)
	Set the inlier distance threshold for the internal RANSAC outlier rejection loop.
double	getRANSACOutlierRejectionThreshold ()
	Get the inlier distance threshold for the internal outlier rejection loop as set by the user.
void	setMaxCorrespondenceDistance (double distance_threshold)
	Set the maximum distance threshold between two correspondent points in source <-> target.
double	getMaxCorrespondenceDistance ()
	Get the maximum distance threshold between two correspondent points in source <-> target.
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.
double	getTransformationEpsilon ()
	Get the transformation epsilon (maximum allowable difference between two consecutive transformations) as set by the user.
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.
double	getEuclideanFitnessEpsilon ()
	Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user.
void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points.
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.
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)
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)
bool	hasConverged ()
	Return the state of convergence after the last align run.
void	align (PointCloudSource &output)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output.
void	align (PointCloudSource &output, const Matrix4 &guess)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output.
const std::string &	getClassName () const
	Abstract class get name method.
bool	initCompute ()
	Internal computation initalization.
bool	initComputeReciprocal ()
	Internal computation when reciprocal lookup is needed.
void	addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector)
	Add a new correspondence rejector to the list.
std::vector < CorrespondenceRejectorPtr >	getCorrespondenceRejectors ()
	Get the list of correspondence rejectors.
bool	removeCorrespondenceRejector (unsigned int i)
	Remove the i-th correspondence rejector in the list.
void	clearCorrespondenceRejectors ()
	Clear the list of correspondence rejectors.
Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointSource &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual void	transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
	Apply a rigid transform to a given dataset.
Protected Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
virtual void	computeTransformation (PointCloudSource &output, const Matrix4 &guess)
	Rigid transformation computation method with initial guess.
virtual void	determineRequiredBlobData ()
	Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called.
Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
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.
Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Public Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr	convergence_criteria_
Protected Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
size_t	x_idx_offset_
	XYZ fields offset.
size_t	y_idx_offset_
size_t	z_idx_offset_
size_t	nx_idx_offset_
	Normal fields offset.
size_t	ny_idx_offset_
size_t	nz_idx_offset_
bool	use_reciprocal_correspondence_
	The correspondence type used for correspondence estimation.
bool	source_has_normals_
	Internal check whether source dataset has normals or not.
bool	target_has_normals_
	Internal check whether target dataset has normals or not.
bool	need_source_blob_
	Checks for whether estimators and rejectors need various data.
bool	need_target_blob_

Detailed Description

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

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

Author: Radu B. Rusu

Definition at line 297 of file icp.h.