#include <ICP.h>

Inheritance diagram for mp2p_icp::ICP:

[legend]

Classes
struct	ICP_State

struct	IterationHook_Input

struct	IterationHook_Output

struct	QualityEvaluatorEntry

Public Types
using	iteration_hook_t = std::function< IterationHook_Output(const IterationHook_Input &)>

Public Member Functions
virtual void	align (const metric_map_t &pcLocal, const metric_map_t &pcGlobal, const mrpt::math::TPose3D &initialGuessLocalWrtGlobal, const Parameters &p, Results &result, const std::optional< mrpt::poses::CPose3DPDFGaussianInf > &prior=std::nullopt, const mrpt::optional_ref< LogRecord > &outputDebugInfo=std::nullopt)

void	attachToParameterSource (ParameterSource &source)

virtual void	initialize_derived ([[maybe_unused]] const mrpt::containers::yaml &p)

mrpt::system::CTimeLogger &	profiler ()

const mrpt::system::CTimeLogger &	profiler () const

void	setIterationHook (const iteration_hook_t &ih)

Static Protected Member Functions
static void	save_log_file (const LogRecord &log, const Parameters &p)

Protected Attributes
iteration_hook_t	iteration_hook_

matcher_list_t	matchers_

mrpt::system::CTimeLogger	profiler_ {false , "mp2p_icp::ICP"}

quality_eval_list_t	quality_evaluators_

solver_list_t	solvers_

Private Attributes
ParameterSource	ownParamSource_

Module: Solver instances
using	solver_list_t = std::vector< mp2p_icp::Solver::Ptr >

void	initialize_solvers (const mrpt::containers::yaml &params)

const solver_list_t &	solvers () const

solver_list_t &	solvers ()

static void	initialize_solvers (const mrpt::containers::yaml &params, ICP::solver_list_t &lst)

static bool	run_solvers (const solver_list_t &solvers, const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc={})

Module: Matcher instances
void	initialize_matchers (const mrpt::containers::yaml &params)

const matcher_list_t &	matchers () const

matcher_list_t &	matchers ()

static void	initialize_matchers (const mrpt::containers::yaml &params, matcher_list_t &lst)

Module: QualityEvaluator instances
using	quality_eval_list_t = std::vector< QualityEvaluatorEntry >

void	initialize_quality_evaluators (const mrpt::containers::yaml &params)

const quality_eval_list_t &	quality_evaluators () const

quality_eval_list_t &	quality_evaluators ()

static void	initialize_quality_evaluators (const mrpt::containers::yaml &params, quality_eval_list_t &lst)

static double	evaluate_quality (const quality_eval_list_t &evaluators, const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &finalPairings)

Detailed Description

Generic ICP algorithm container: builds a custom ICP pipeline by selecting algorithm and parameter for each stage.

The main API entry point is align().

A convenient way to create an ICP pipeline instance is using a YAML configuration file and calling mp2p_icp::icp_pipeline_from_yaml().

Todo:: Add pipeline picture.

Several solvers may exists, but the output from the first one returning true will be used. This is by design, to enable different solver algorithms depending on the ICP iteration or the type of geometric entities.

Definition at line 51 of file ICP.h.

Member Typedef Documentation

◆ iteration_hook_t

using mp2p_icp::ICP::iteration_hook_t = std::function<IterationHook_Output(const IterationHook_Input&)>

Definition at line 223 of file ICP.h.

◆ quality_eval_list_t

using mp2p_icp::ICP::quality_eval_list_t = std::vector<QualityEvaluatorEntry>

Definition at line 148 of file ICP.h.

◆ solver_list_t

using mp2p_icp::ICP::solver_list_t = std::vector<mp2p_icp::Solver::Ptr>

Definition at line 70 of file ICP.h.

Member Function Documentation

◆ align()

void ICP::align	(	const metric_map_t &	pcLocal,
		const metric_map_t &	pcGlobal,
		const mrpt::math::TPose3D &	initialGuessLocalWrtGlobal,
		const Parameters &	p,
		Results &	result,
		const std::optional< mrpt::poses::CPose3DPDFGaussianInf > &	prior = `std::nullopt`,
		const mrpt::optional_ref< LogRecord > &	outputDebugInfo = `std::nullopt`
	)

virtual

Register (align) two point clouds (possibly after having been preprocessed to extract features, etc.) and returns the relative pose of pcLocal with respect to pcGlobal.

Reimplemented in mp2p_icp::ICP_LibPointmatcher.

Definition at line 27 of file mp2p_icp/src/ICP.cpp.

◆ attachToParameterSource()

void mp2p_icp::ICP::attachToParameterSource ( ParameterSource & source )

inline

Definition at line 185 of file ICP.h.

◆ evaluate_quality()

double ICP::evaluate_quality	(	const quality_eval_list_t &	evaluators,
		const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const Pairings &	finalPairings
	)

static

Definition at line 596 of file mp2p_icp/src/ICP.cpp.

◆ initialize_derived()

virtual void mp2p_icp::ICP::initialize_derived ( [[maybe_unused] ] const mrpt::containers::yaml & p )

inlinevirtual

For whole-ICP overriden classes (e.g. external ICP library wrappers), initialize those external libraries with these parameters. Invoked from mp2p_icp::icp_pipeline_from_yaml().

See also: mp2p_icp::icp_pipeline_from_yaml()

Definition at line 199 of file ICP.h.

◆ initialize_matchers() [1/2]

void ICP::initialize_matchers ( const mrpt::containers::yaml & params )

Create and configure one or more "Match" modules from YAML-like config block. Config must be a sequence of one or more entries, each with a class and a params dictionary entries.

Example:

- class: mp2p_icp::Matcher_Points_DistanceThreshold
  params:
   # Parameters depend on the particular class
   threshold: 1.0

Alternatively, the objects can be directly created via matchers().

See also: mp2p_icp::icp_pipeline_from_yaml()

Definition at line 526 of file mp2p_icp/src/ICP.cpp.

◆ initialize_matchers() [2/2]

void ICP::initialize_matchers	(	const mrpt::containers::yaml &	params,
		matcher_list_t &	lst
	)

static

Definition at line 531 of file mp2p_icp/src/ICP.cpp.

◆ initialize_quality_evaluators() [1/2]

void ICP::initialize_quality_evaluators ( const mrpt::containers::yaml & params )

Create and configure one or more "QualityEvaluator" modules from YAML-like config block. Config must be a sequence of one or more entries, each with a class and a params dictionary entries.

Example:

- class: mp2p_icp::QualityEvaluator_PairedRatio
  weight: 1.0  # (Optional if only one quality evaluator is defined)
  params:
   # Parameters depend on the particular class
   # xxx: yyyy

Alternatively, the objects can be directly created via matchers().

See also: mp2p_icp::icp_pipeline_from_yaml()

Definition at line 591 of file mp2p_icp/src/ICP.cpp.

◆ initialize_quality_evaluators() [2/2]

void ICP::initialize_quality_evaluators	(	const mrpt::containers::yaml &	params,
		ICP::quality_eval_list_t &	lst
	)

static

Definition at line 558 of file mp2p_icp/src/ICP.cpp.

◆ initialize_solvers() [1/2]

void ICP::initialize_solvers ( const mrpt::containers::yaml & params )

Create and configure one or more "Solver" modules from YAML-like config block. Config must be a sequence of one or more entries, each with a class and a params dictionary entries.

Read the comments for ICP on the possible existence of more than one solver.

Example:

- class: mp2p_icp::Solver_Horn
  params:
   # Parameters depend on the particular class
   # none

Alternatively, the objects can be directly created via solvers().

See also: mp2p_icp::icp_pipeline_from_yaml()

Definition at line 494 of file mp2p_icp/src/ICP.cpp.

◆ initialize_solvers() [2/2]

void ICP::initialize_solvers	(	const mrpt::containers::yaml &	params,
		ICP::solver_list_t &	lst
	)

static

Definition at line 499 of file mp2p_icp/src/ICP.cpp.

◆ matchers() [1/2]

matcher_list_t& mp2p_icp::ICP::matchers ( )

inline

Definition at line 131 of file ICP.h.

◆ matchers() [2/2]

const matcher_list_t& mp2p_icp::ICP::matchers ( ) const

inline

Definition at line 130 of file ICP.h.

◆ profiler() [1/2]

mrpt::system::CTimeLogger& mp2p_icp::ICP::profiler ( )

inline

Definition at line 231 of file ICP.h.

◆ profiler() [2/2]

const mrpt::system::CTimeLogger& mp2p_icp::ICP::profiler ( ) const

inline

Definition at line 230 of file ICP.h.

◆ quality_evaluators() [1/2]

quality_eval_list_t& mp2p_icp::ICP::quality_evaluators ( )

inline

Definition at line 176 of file ICP.h.

◆ quality_evaluators() [2/2]

const quality_eval_list_t& mp2p_icp::ICP::quality_evaluators ( ) const

inline

Definition at line 172 of file ICP.h.

◆ run_solvers()

bool ICP::run_solvers	(	const solver_list_t &	solvers,
		const Pairings &	pairings,
		OptimalTF_Result &	out,
		const SolverContext &	sc = `{}`
	)

static

Runs a set of solvers.

Definition at line 482 of file mp2p_icp/src/ICP.cpp.

◆ save_log_file()

void ICP::save_log_file	(	const LogRecord &	log,
		const Parameters &	p
	)

staticprotected

Definition at line 391 of file mp2p_icp/src/ICP.cpp.

◆ setIterationHook()

void mp2p_icp::ICP::setIterationHook ( const iteration_hook_t & ih )

inline

Definition at line 225 of file ICP.h.

◆ solvers() [1/2]

solver_list_t& mp2p_icp::ICP::solvers ( )

inline

Definition at line 97 of file ICP.h.

◆ solvers() [2/2]

const solver_list_t& mp2p_icp::ICP::solvers ( ) const

inline

Definition at line 96 of file ICP.h.

Member Data Documentation

◆ iteration_hook_

iteration_hook_t mp2p_icp::ICP::iteration_hook_

protected

Definition at line 239 of file ICP.h.

◆ matchers_

matcher_list_t mp2p_icp::ICP::matchers_

protected

Definition at line 235 of file ICP.h.

◆ ownParamSource_

ParameterSource mp2p_icp::ICP::ownParamSource_

private

Definition at line 261 of file ICP.h.

◆ profiler_

mrpt::system::CTimeLogger mp2p_icp::ICP::profiler_ {false , "mp2p_icp::ICP"}

protected

Definition at line 241 of file ICP.h.

◆ quality_evaluators_

quality_eval_list_t mp2p_icp::ICP::quality_evaluators_

protected

Initial value:

= {

{QualityEvaluator_PairedRatio::Create(), 1.0}}

Definition at line 236 of file ICP.h.

◆ solvers_

solver_list_t mp2p_icp::ICP::solvers_

protected

Definition at line 234 of file ICP.h.

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

Classes

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Private Attributes

Module: Solver instances

Module: Matcher instances

Module: QualityEvaluator instances

Detailed Description

Member Typedef Documentation

◆ iteration_hook_t

◆ quality_eval_list_t

◆ solver_list_t

Member Function Documentation

◆ align()

◆ attachToParameterSource()

◆ evaluate_quality()

◆ initialize_derived()

◆ initialize_matchers() [1/2]

◆ initialize_matchers() [2/2]

◆ initialize_quality_evaluators() [1/2]

◆ initialize_quality_evaluators() [2/2]

◆ initialize_solvers() [1/2]

◆ initialize_solvers() [2/2]

◆ matchers() [1/2]

◆ matchers() [2/2]

◆ profiler() [1/2]

◆ profiler() [2/2]

◆ quality_evaluators() [1/2]

◆ quality_evaluators() [2/2]

◆ run_solvers()

◆ save_log_file()

◆ setIterationHook()

◆ solvers() [1/2]

◆ solvers() [2/2]

Member Data Documentation

◆ iteration_hook_

◆ matchers_

◆ ownParamSource_

◆ profiler_

◆ quality_evaluators_

◆ solvers_