43 #include <pcl/common/utils.h>
44 #include <pcl/filters/voxel_grid_covariance.h>
45 #include <pcl/registration/registration.h>
49 #include <unsupported/Eigen/NonLinearOptimization>
64 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
66 :
public Registration<PointSource, PointTarget, Scalar> {
93 shared_ptr<NormalDistributionsTransform<PointSource, PointTarget, Scalar>>;
95 shared_ptr<const NormalDistributionsTransform<PointSource, PointTarget, Scalar>>;
96 using Vector3 =
typename Eigen::Matrix<Scalar, 3, 1>;
98 using Affine3 =
typename Eigen::Transform<Scalar, 3, Eigen::Affine>;
193 "The method `getTransformationProbability` has been renamed to "
194 "`getTransformationLikelihood`.")
218 trans = Eigen::Translation<Scalar, 3>(x.head<3>().cast<Scalar>()) *
219 Eigen::AngleAxis<Scalar>(Scalar(x(3)), Vector3::UnitX()) *
220 Eigen::AngleAxis<Scalar>(Scalar(x(4)), Vector3::UnitY()) *
221 Eigen::AngleAxis<Scalar>(Scalar(x(5)), Vector3::UnitZ());
234 trans = _affine.matrix();
298 Eigen::Matrix<double, 6, 6>& hessian,
300 const Eigen::Matrix<double, 6, 1>& transform,
301 bool compute_hessian =
true);
318 Eigen::Matrix<double, 6, 6>& hessian,
319 const Eigen::Vector3d& x_trans,
320 const Eigen::Matrix3d& c_inv,
321 bool compute_hessian =
true)
const;
331 bool compute_hessian =
true);
365 const
Eigen::Matrix<
double, 6, 1>& transform)
382 const Eigen::Vector3d& x_trans,
383 const Eigen::Matrix3d& c_inv)
const;
416 Eigen::Matrix<double, 6, 1>& step_dir,
421 Eigen::Matrix<double, 6, 1>& score_gradient,
422 Eigen::Matrix<double, 6, 6>& hessian,
519 double a,
double f_a,
double f_0,
double g_0,
double mu = 1.e-4)
const
521 return f_a - f_0 - mu * g_0 * a;
539 return g_a - mu * g_0;
565 "`trans_probability_` has been renamed to `trans_likelihood_`.")
599 #include <pcl/registration/impl/ndt.hpp>
PointCloudConstPtr input_
The input point cloud dataset.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Registration represents the base registration class for general purpose, ICP-like methods.
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 t...
int nr_iterations_
The number of iterations the internal optimization ran for (used internally).
Eigen::Matrix< Scalar, 4, 4 > Matrix4
double transformation_rotation_epsilon_
The maximum rotation difference between two consecutive transformations in order to consider converge...
PointCloudTargetConstPtr target_
The input point cloud dataset target.
void filter(PointCloud &output, bool searchable=false)
Filter cloud and initializes voxel structure.
const Leaf * LeafConstPtr
Const pointer to VoxelGridCovariance leaf structure.
void setLeafSize(const Eigen::Vector4f &leaf_size)
Set the voxel grid leaf size.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
void ignore(const T &...)
Utility function to eliminate unused variable warnings.
Defines all the PCL and non-PCL macros used.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr