Perform a fine alignment from source to target cloud with Generalized Iterative Closest Point. More...

#include <GICPAlignment.h>

Public Member Functions
void	applyTFtoCloud (PointCloudRGB::Ptr cloud)
	Once GICP is finished, apply fine transformation to source cloud. More...

void	getAlignedCloud (PointCloudRGB::Ptr aligned_cloud)
	Get the aligned cloud object. More...

void	getAlignedCloudROSMsg (sensor_msgs::PointCloud2 &aligned_cloud_msg)
	Get the aligned cloud msg in PointCloud2 format. More...

Eigen::Matrix4f	getFineTransform ()
	Get the fine transform object. More...

	GICPAlignment (PointCloudRGB::Ptr target_cloud, PointCloudRGB::Ptr source_cloud, bool use_covariances)
	Construct a new GICPAlignment object. More...

void	iterate ()
	Do more iterations of GICP alignment. More...

void	run ()
	Perform GICP alignment. More...

void	setMaxCorrespondenceDistance (int max_corresp_distance)
	Set the Max Correspondence Distance object. More...

void	setMaxIterations (int iterations)
	Set the Max Iterations object. More...

void	setRANSACOutlierTh (int ransac_threshold)
	Set the RANSAC Outlier threshold. More...

void	setSourceCloud (PointCloudRGB::Ptr source_cloud)
	Set the Source Cloud object. More...

void	setTargetCloud (PointCloudRGB::Ptr target_cloud)
	Set the Target Cloud object. More...

void	setTfEpsilon (double tf_epsilon)
	Set the Tf Epsilon object. More...

void	undo ()
	Undo last iteration and back up results. More...

	~GICPAlignment ()
	Destroy the GICPAlignment object. More...

Public Attributes
bool	transform_exists_
	If true, fine transformation is finished. More...

Private Types
typedef std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > >	CovariancesVector

typedef pcl::PointCloud< pcl::Normal >	PointCloudNormal

typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudRGB

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudXYZ

Private Member Functions
void	applyCovariances ()
	Apply the covariances before running GICP. More...

void	backUp (PointCloudRGB::Ptr cloud)
	Store cloud as backup cloud. More...

void	configParameters ()
	Set parameters to compute GICP alignment. More...

void	fineAlignment ()
	Apply GICP to perform fine alignment. More...

void	getCovariances (PointCloudRGB::Ptr cloud, boost::shared_ptr< CovariancesVector > covs)
	Get the covariances from cloud. More...

void	iterateFineAlignment (PointCloudRGB::Ptr cloud)
	Re-iterate GICP and save new aligned cloud. More...

Private Attributes
PointCloudRGB::Ptr	aligned_cloud_
	Source pointcloud aligned with target cloud. More...

PointCloudRGB::Ptr	backup_cloud_
	Save aligned pointcloud to restore if undo. More...

bool	covariances_
	If true, perform GICP with convariances. More...

Eigen::Matrix4f	fine_tf_
	Transformation matrix as result of GICP alignment. More...

pcl::GeneralizedIterativeClosestPoint< pcl::PointXYZRGB, pcl::PointXYZRGB >	gicp_
	GICP object. More...

double	max_corresp_distance_
	Value for Max CorrespondenceDistance for GICP. More...

int	max_iter_
	Maximum number of GICP iterations. More...

double	ransac_outlier_th_
	Value for RANSAC outlier threshold. More...

PointCloudRGB::Ptr	source_cloud_
	Source pointcloud. More...

PointCloudRGB::Ptr	target_cloud_
	Target pointcloud. More...

double	tf_epsilon_
	Value for TFEpsilon for GICP. Define the convergence criterion. More...

Detailed Description

Perform a fine alignment from source to target cloud with Generalized Iterative Closest Point.

POINTCLOUDS:

target pointcloud: should be obtained from converting a part's CAD. Use CADToPointCloud.
source pointcloud: obtained from Leica scan and previously aligned with target using InitialAlignment.

Definition at line 32 of file GICPAlignment.h.

Member Typedef Documentation

typedef std::vector<Eigen::Matrix3d, Eigen::aligned_allocator<Eigen::Matrix3d> > GICPAlignment::CovariancesVector

private

Definition at line 37 of file GICPAlignment.h.

typedef pcl::PointCloud<pcl::Normal> GICPAlignment::PointCloudNormal

private

Definition at line 36 of file GICPAlignment.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> GICPAlignment::PointCloudRGB

private

Definition at line 35 of file GICPAlignment.h.

typedef pcl::PointCloud<pcl::PointXYZ> GICPAlignment::PointCloudXYZ

private

Definition at line 34 of file GICPAlignment.h.

Constructor & Destructor Documentation

GICPAlignment::GICPAlignment	(	PointCloudRGB::Ptr	target_cloud,
		PointCloudRGB::Ptr	source_cloud,
		bool	use_covariances
	)

Construct a new GICPAlignment object.

Parameters

[in]	target_cloud
[in]	source_cloud
[in]	use_covariances

Definition at line 23 of file GICPAlignment.cpp.

GICPAlignment::~GICPAlignment ( )

inline

Destroy the GICPAlignment object.

Definition at line 53 of file GICPAlignment.h.

Member Function Documentation

void GICPAlignment::applyCovariances ( )

private

Apply the covariances before running GICP.

Definition at line 73 of file GICPAlignment.cpp.

void GICPAlignment::applyTFtoCloud ( PointCloudRGB::Ptr cloud )

Once GICP is finished, apply fine transformation to source cloud.

Parameters

[out] cloud

Definition at line 144 of file GICPAlignment.cpp.

void GICPAlignment::backUp ( PointCloudRGB::Ptr cloud )

private

Store cloud as backup cloud.

Parameters

[in] cloud

Definition at line 134 of file GICPAlignment.cpp.

void GICPAlignment::configParameters ( )

private

Set parameters to compute GICP alignment.

Definition at line 48 of file GICPAlignment.cpp.

void GICPAlignment::fineAlignment ( )

private

Apply GICP to perform fine alignment.

Parameters

[in]	source_cloud
[in]	target_cloud

Definition at line 86 of file GICPAlignment.cpp.

void GICPAlignment::getAlignedCloud ( PointCloudRGB::Ptr aligned_cloud )

Get the aligned cloud object.

Parameters

[out] aligned_cloud

Definition at line 156 of file GICPAlignment.cpp.

void GICPAlignment::getAlignedCloudROSMsg ( sensor_msgs::PointCloud2 & aligned_cloud_msg )

Get the aligned cloud msg in PointCloud2 format.

Parameters

[out] aligned_cloud_msg

Definition at line 161 of file GICPAlignment.cpp.

void GICPAlignment::getCovariances	(	PointCloudRGB::Ptr	cloud,
		boost::shared_ptr< CovariancesVector >	covs
	)

private

Get the covariances from cloud.

Parameters

[in]	cloud
[out]	covs

Definition at line 56 of file GICPAlignment.cpp.

Eigen::Matrix4f GICPAlignment::getFineTransform ( )

Get the fine transform object.

Returns: Eigen::Matrix4f

Definition at line 149 of file GICPAlignment.cpp.

void GICPAlignment::iterate ( )

Do more iterations of GICP alignment.

Definition at line 129 of file GICPAlignment.cpp.

void GICPAlignment::iterateFineAlignment ( PointCloudRGB::Ptr cloud )

private

Re-iterate GICP and save new aligned cloud.

Parameters

[out] cloud

Definition at line 111 of file GICPAlignment.cpp.

void GICPAlignment::run ( )

Perform GICP alignment.

Definition at line 37 of file GICPAlignment.cpp.

void GICPAlignment::setMaxCorrespondenceDistance ( int max_corresp_distance )

Set the Max Correspondence Distance object.

Parameters

max_corresp_distance

Definition at line 188 of file GICPAlignment.cpp.

void GICPAlignment::setMaxIterations ( int iterations )

Set the Max Iterations object.

Parameters

iterations

Definition at line 176 of file GICPAlignment.cpp.

void GICPAlignment::setRANSACOutlierTh ( int ransac_threshold )

Set the RANSAC Outlier threshold.

Parameters

ransac_threshold

Definition at line 194 of file GICPAlignment.cpp.

void GICPAlignment::setSourceCloud ( PointCloudRGB::Ptr source_cloud )

Set the Source Cloud object.

Parameters

source_cloud

Definition at line 166 of file GICPAlignment.cpp.

void GICPAlignment::setTargetCloud ( PointCloudRGB::Ptr target_cloud )

Set the Target Cloud object.

Parameters

target_cloud

Definition at line 171 of file GICPAlignment.cpp.

void GICPAlignment::setTfEpsilon ( double tf_epsilon )

Set the Tf Epsilon object.

Parameters

tf_epsilon

Definition at line 182 of file GICPAlignment.cpp.

void GICPAlignment::undo ( )

Undo last iteration and back up results.

Definition at line 139 of file GICPAlignment.cpp.

Member Data Documentation

PointCloudRGB::Ptr GICPAlignment::aligned_cloud_

private

Source pointcloud aligned with target cloud.

Definition at line 178 of file GICPAlignment.h.

PointCloudRGB::Ptr GICPAlignment::backup_cloud_

private

Save aligned pointcloud to restore if undo.

Definition at line 181 of file GICPAlignment.h.

bool GICPAlignment::covariances_

private

If true, perform GICP with convariances.

Definition at line 150 of file GICPAlignment.h.

Eigen::Matrix4f GICPAlignment::fine_tf_

private

Transformation matrix as result of GICP alignment.

Definition at line 156 of file GICPAlignment.h.

pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB> GICPAlignment::gicp_

private

GICP object.

Definition at line 153 of file GICPAlignment.h.

double GICPAlignment::max_corresp_distance_

private

Value for Max CorrespondenceDistance for GICP.

Definition at line 166 of file GICPAlignment.h.

int GICPAlignment::max_iter_

private

Maximum number of GICP iterations.

Definition at line 160 of file GICPAlignment.h.

double GICPAlignment::ransac_outlier_th_

private

Value for RANSAC outlier threshold.

Definition at line 169 of file GICPAlignment.h.

PointCloudRGB::Ptr GICPAlignment::source_cloud_

private

Source pointcloud.

Definition at line 175 of file GICPAlignment.h.

PointCloudRGB::Ptr GICPAlignment::target_cloud_

private

Target pointcloud.

Definition at line 172 of file GICPAlignment.h.

double GICPAlignment::tf_epsilon_

private

Value for TFEpsilon for GICP. Define the convergence criterion.

Definition at line 163 of file GICPAlignment.h.

bool GICPAlignment::transform_exists_

If true, fine transformation is finished.

Definition at line 53 of file GICPAlignment.h.

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

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation