Point Cloud Library (PCL)  1.12.1-dev
icp_nl.h
1 /*
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40
41 #pragma once
42
43 // PCL includes
44 #include <pcl/registration/icp.h>
45 #include <pcl/registration/transformation_estimation_lm.h>
46
47 namespace 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  */
66 template <typename PointSource, typename PointTarget, typename Scalar = float>
68 : public IterativeClosestPoint<PointSource, PointTarget, Scalar> {
75
76 public:
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
91  new pcl::registration::
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
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.
Definition: registration.h:560
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: registration.h:59
TransformationEstimationPtr transformation_estimation_
A TransformationEstimation object, used to calculate the 4x4 rigid transformation.
Definition: registration.h:637
unsigned int min_number_correspondences_
The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...
Definition: registration.h:630