icp_nl.h

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 * $Id: icp_nl.h 35881 2011-02-09 02:02:52Z rusu $
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#ifndef PCL_ICP_NL_H_
#define PCL_ICP_NL_H_

#include "pcl/io/pcd_io.h"
// PCL includes
#include "pcl/registration/registration.h"
#include "pcl/features/feature.h"
#include "pcl/sample_consensus/ransac.h"
#include "pcl/sample_consensus/sac_model_registration.h"

#include <cminpack.h>

namespace pcl
{
  template <typename PointSource, typename PointTarget>
  class IterativeClosestPointNonLinear : public Registration<PointSource, PointTarget>
  {
    using Registration<PointSource, PointTarget>::reg_name_;
    using Registration<PointSource, PointTarget>::getClassName;
    using Registration<PointSource, PointTarget>::indices_;
    using Registration<PointSource, PointTarget>::target_;
    using Registration<PointSource, PointTarget>::nr_iterations_;
    using Registration<PointSource, PointTarget>::max_iterations_;
    using Registration<PointSource, PointTarget>::previous_transformation_;
    using Registration<PointSource, PointTarget>::final_transformation_;
    using Registration<PointSource, PointTarget>::transformation_;
    using Registration<PointSource, PointTarget>::transformation_epsilon_;
    using Registration<PointSource, PointTarget>::converged_;
    using Registration<PointSource, PointTarget>::corr_dist_threshold_;
    using Registration<PointSource, PointTarget>::inlier_threshold_;
    using Registration<PointSource, PointTarget>::min_number_correspondences_;

    typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
    typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
    typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

    typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;

    typedef PointIndices::Ptr PointIndicesPtr;
    typedef PointIndices::ConstPtr PointIndicesConstPtr;

    public:
      IterativeClosestPointNonLinear ()
      {
        min_number_correspondences_ = 4;
        reg_name_ = "IterativeClosestPointNonLinear";
      };

      void 
      estimateRigidTransformationLM (const PointCloudSource &cloud_src, const PointCloudTarget &cloud_tgt, Eigen::Matrix4f &transformation_matrix);

      void 
      estimateRigidTransformationLM (const PointCloudSource &cloud_src, const std::vector<int> &indices_src, 
                                     const PointCloudTarget &cloud_tgt, const std::vector<int> &indices_tgt, 
                                     Eigen::Matrix4f &transformation_matrix);

    protected:
      void 
      computeTransformation (PointCloudSource &output);

    private:
      inline double 
      computeMedian (double *fvec, int m);

      static int 
      functionToOptimize (void *p, int m, int n, const double *x, double *fvec, int iflag);
      static int 
      functionToOptimizeIndices (void *p, int m, int n, const double *x, double *fvec, int iflag);

      inline double
      distHuber (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt, double sigma)
      {
        Eigen::Array4f diff = (p_tgt.array () - p_src.array ()).abs ();
        double norm = 0.0;
        for (int i = 0; i < 3; ++i)
        {
          if (diff[i] < sigma)
            norm += diff[i] * diff[i];
          else
            norm += 2.0 * sigma * diff[i] - sigma * sigma;
        }
        return (norm);
      }

      inline double
      distHuber (double diff, double sigma)
      {
        double norm = 0.0;
        if (diff < sigma)
          norm += diff * diff;
        else
          norm += 2.0 * sigma * diff - sigma * sigma;
        return (norm);
      }

      inline double
      distGedikli (double val, double clipping)
      {
        clipping *= 1.5;
        return (1.0 / (1.0 + pow (val / clipping, 4)));
      }

      inline double
      distL1 (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt)
      {
        return ((p_src.array () - p_tgt.array ()).abs ().sum ());
      }

      inline double
      distL2Sqr (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt)
      {
        return ((p_src - p_tgt).squaredNorm ());
      }

      std::vector<double> weights_;

      boost::mutex tmp_mutex_;

      const PointCloudSource *tmp_src_;

      const PointCloudTarget  *tmp_tgt_;

      const std::vector<int> *tmp_idx_src_;

      const std::vector<int> *tmp_idx_tgt_;
  };
}

#include "pcl/registration/icp_nl.hpp"

#endif  //#ifndef PCL_ICP_NL_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013