#include <pcl/recognition/ransac_based/trimmed_icp.h>

Inheritance diagram for pcl::recognition::TrimmedICP< PointT, Scalar >:

Collaboration diagram for pcl::recognition::TrimmedICP< PointT, Scalar >:

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Matrix4 = typename Eigen::Matrix< Scalar, 4, 4 >

Public Types inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >
using	Ptr = shared_ptr< TransformationEstimationSVD< PointT, PointT, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationSVD< PointT, PointT, Scalar > >

using	Matrix4 = typename TransformationEstimation< PointT, PointT, Scalar >::Matrix4

Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
using	Matrix4 = Eigen::Matrix< Scalar, 4, 4 >

using	Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >

Public Member Functions
	TrimmedICP ()=default

	~TrimmedICP () override=default

void	init (const PointCloudConstPtr &target)
	Call this method before calling align(). More...

void	align (const PointCloud &source_points, int num_source_points_to_use, Matrix4 &guess_and_result) const
	The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method). More...

void	setNewToOldEnergyRatio (float ratio)

Public Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >
	TransformationEstimationSVD (bool use_umeyama=true)
	Constructor. More...

	~TransformationEstimationSVD () override=default

void	estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More...

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
	TransformationEstimation ()=default

virtual	~TransformationEstimation ()=default

Static Protected Member Functions
static bool	compareCorrespondences (const pcl::Correspondence &a, const pcl::Correspondence &b)

Protected Attributes
PointCloudConstPtr	target_points_

pcl::KdTreeFLANN< PointT >	kdtree_

float	new_to_old_energy_ratio_ {0.99f}

Protected Attributes inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >
bool	use_umeyama_

Additional Inherited Members
Protected Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >
void	estimateRigidTransformation (ConstCloudIterator< PointT > &source_it, ConstCloudIterator< PointT > &target_it, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target. More...

virtual void	getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_tgt, Matrix4 &transformation_matrix) const
	Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src. More...

Detailed Description

template<typename PointT, typename Scalar>
class pcl::recognition::TrimmedICP< PointT, Scalar >

Definition at line 62 of file trimmed_icp.h.

Member Typedef Documentation

◆ Matrix4

template<typename PointT , typename Scalar >

using pcl::recognition::TrimmedICP< PointT, Scalar >::Matrix4 = typename Eigen::Matrix<Scalar, 4, 4>

Definition at line 68 of file trimmed_icp.h.

◆ PointCloud

template<typename PointT , typename Scalar >

using pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloud = pcl::PointCloud<PointT>

Definition at line 65 of file trimmed_icp.h.

◆ PointCloudConstPtr

template<typename PointT , typename Scalar >

using pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 66 of file trimmed_icp.h.

Constructor & Destructor Documentation

◆ TrimmedICP()

template<typename PointT , typename Scalar >

pcl::recognition::TrimmedICP< PointT, Scalar >::TrimmedICP ( )

default

◆ ~TrimmedICP()

template<typename PointT , typename Scalar >

pcl::recognition::TrimmedICP< PointT, Scalar >::~TrimmedICP ( )

overridedefault

Member Function Documentation

◆ align()

template<typename PointT , typename Scalar >

void pcl::recognition::TrimmedICP< PointT, Scalar >::align	(	const PointCloud &	source_points,
		int	num_source_points_to_use,
		Matrix4 &	guess_and_result
	)		const

inline

The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method).

Parameters

[in]	source_points	is the point cloud to be registered to the target.
[in]	num_source_points_to_use	gives the number of closest source points taken into account for registration. By closest source points we mean the source points closest to the target. These points are computed anew at each iteration.
[in,out]	guess_and_result	is the estimated rigid transform. IMPORTANT: this matrix is also taken as the initial guess for the alignment. If there is no guess, set the matrix to identity!

Definition at line 96 of file trimmed_icp.h.

References pcl::recognition::TrimmedICP< PointT, Scalar >::compareCorrespondences(), pcl::PointCloud< PointT >::size(), and pcl::recognition::aux::transform().

◆ compareCorrespondences()

template<typename PointT , typename Scalar >

static bool pcl::recognition::TrimmedICP< PointT, Scalar >::compareCorrespondences	(	const pcl::Correspondence &	a,
		const pcl::Correspondence &	b
	)

inlinestaticprotected

Definition at line 170 of file trimmed_icp.h.

References pcl::Correspondence::distance.

Referenced by pcl::recognition::TrimmedICP< PointT, Scalar >::align().

◆ init()

template<typename PointT , typename Scalar >

void pcl::recognition::TrimmedICP< PointT, Scalar >::init ( const PointCloudConstPtr & target )

inline

Call this method before calling align().

Parameters

[in] target is target point cloud. The method builds a kd-tree based on 'target' for performing fast closest point search. The source point cloud will be registered to 'target' (see align() method).

Definition at line 81 of file trimmed_icp.h.

◆ setNewToOldEnergyRatio()

template<typename PointT , typename Scalar >

void pcl::recognition::TrimmedICP< PointT, Scalar >::setNewToOldEnergyRatio ( float ratio )

inline

Definition at line 160 of file trimmed_icp.h.

Member Data Documentation

◆ kdtree_

template<typename PointT , typename Scalar >

pcl::KdTreeFLANN<PointT> pcl::recognition::TrimmedICP< PointT, Scalar >::kdtree_

protected

Definition at line 177 of file trimmed_icp.h.

◆ new_to_old_energy_ratio_

template<typename PointT , typename Scalar >

float pcl::recognition::TrimmedICP< PointT, Scalar >::new_to_old_energy_ratio_ {0.99f}

protected

Definition at line 178 of file trimmed_icp.h.

◆ target_points_

template<typename PointT , typename Scalar >

PointCloudConstPtr pcl::recognition::TrimmedICP< PointT, Scalar >::target_points_

protected

Definition at line 176 of file trimmed_icp.h.

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

pcl/recognition/ransac_based/trimmed_icp.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointT, typename Scalar> class pcl::recognition::TrimmedICP< PointT, Scalar >

Member Typedef Documentation

◆ Matrix4

◆ PointCloud

◆ PointCloudConstPtr

Constructor & Destructor Documentation

◆ TrimmedICP()

◆ ~TrimmedICP()

Member Function Documentation

◆ align()

◆ compareCorrespondences()

◆ init()

◆ setNewToOldEnergyRatio()

Member Data Documentation

◆ kdtree_

◆ new_to_old_energy_ratio_

◆ target_points_

template<typename PointT, typename Scalar>
class pcl::recognition::TrimmedICP< PointT, Scalar >