mp2p_icp Namespace Reference

Namespaces
	internal

Classes
struct	color_mode_t
struct	CovarianceParameters
class	ICP
class	ICP_LibPointmatcher
class	LogRecord
struct	MatchContext
struct	matched_line_t
struct	matched_plane_t
class	Matcher
class	Matcher_Adaptive
class	Matcher_Point2Line
class	Matcher_Point2Plane
class	Matcher_Points_Base
class	Matcher_Points_DistanceThreshold
class	Matcher_Points_InlierRatio
struct	MatchState
class	metric_map_t
	Generic container of pointcloud(s), extracted features and other maps. More...
class	NearestPlaneCapable
struct	OptimalTF_GN_Parameters
struct	OptimalTF_Result
struct	OutlierIndices
struct	Pairings
struct	pairings_render_params_t
struct	PairWeights
class	Parameterizable
struct	Parameters
class	ParameterSource
struct	plane_patch_t
struct	point_line_pair_t
struct	point_plane_pair_t
struct	pointcloud_bitfield_t
struct	PointCloudEigen
	Output of estimate_points_eigen() More...
class	QualityEvaluator
class	QualityEvaluator_PairedRatio
class	QualityEvaluator_RangeImageSimilarity
class	QualityEvaluator_Voxels
struct	render_params_lines_t
struct	render_params_pairings_pt2ln_t
struct	render_params_pairings_pt2pl_t
struct	render_params_pairings_pt2pt_t
struct	render_params_planes_t
struct	render_params_point_layer_t
struct	render_params_points_t
struct	render_params_t
struct	Results
class	Solver
class	Solver_GaussNewton
class	Solver_Horn
class	Solver_OLAE
struct	SolverContext
struct	VisitCorrespondencesStats
struct	WeightParameters

Typedefs
using	layer_name_t = std::string
using	MatchedLineList = std::vector< matched_line_t >
using	MatchedPlaneList = std::vector< matched_plane_t >
using	MatchedPointLineList = std::vector< point_line_pair_t >
using	MatchedPointPlaneList = std::vector< point_plane_pair_t >
using	matcher_list_t = std::vector< mp2p_icp::Matcher::Ptr >
using	robust_sqrt_weight_func_t = std::function< double(double)>

Enumerations
enum	Coordinate : uint8_t { Coordinate::X = 0, Coordinate::Y, Coordinate::Z }
enum	IterTermReason : uint8_t {   IterTermReason::Undefined = 0, IterTermReason::NoPairings, IterTermReason::SolverError, IterTermReason::MaxIterations,   IterTermReason::Stalled, IterTermReason::QualityCheckpointFailed, IterTermReason::HookRequest }
enum	RobustKernel : uint8_t { RobustKernel::None = 0, RobustKernel::GemanMcClure, RobustKernel::Cauchy }

Functions
void	AttachToParameterSource (Parameterizable &o, ParameterSource &source)
template<typename T >
void	AttachToParameterSource (std::vector< std::shared_ptr< T >> &setObjects, ParameterSource &source)
mrpt::math::CMatrixDouble66	covariance (const Pairings &finalPairings, const mrpt::poses::CPose3D &finalAlignSolution, const CovarianceParameters &p)
robust_sqrt_weight_func_t	create_robust_kernel (const RobustKernel kernel, const double kernelParam)
mrpt::math::CVectorFixedDouble< 4 >	error_line2line (const mp2p_icp::matched_line_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 4, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_plane2plane (const mp2p_icp::matched_plane_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2line (const mp2p_icp::point_line_pair_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2plane (const mp2p_icp::point_plane_pair_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2point (const mrpt::tfest::TMatchingPair &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
PointCloudEigen	estimate_points_eigen (const float *xs, const float *ys, const float *zs, mrpt::optional_ref< const std::vector< size_t >> indices, std::optional< size_t > totalCount=std::nullopt)
std::tuple< mrpt::math::TPoint3D, mrpt::math::TPoint3D >	eval_centroids_robust (const Pairings &in, const OutlierIndices &outliers)
std::tuple< mp2p_icp::ICP::Ptr, mp2p_icp::Parameters >	icp_pipeline_from_yaml (const mrpt::containers::yaml &config, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
mrpt::maps::CSimplePointsMap::Ptr	load_xyz_file (const std::string &fil)
const mrpt::maps::NearestNeighborsCapable *	MapToNN (const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented)
const mp2p_icp::NearestPlaneCapable *	MapToNP (const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented)
const mrpt::maps::CPointsMap *	MapToPointsMap (const mrpt::maps::CMetricMap &map)
mrpt::maps::CPointsMap *	MapToPointsMap (mrpt::maps::CMetricMap &map)
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const Pairings &obj)
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const Results &obj)
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const std::optional< metric_map_t::Georeferencing > &g)
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, Pairings &obj)
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, Results &obj)
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, std::optional< metric_map_t::Georeferencing > &g)
bool	optimal_tf_gauss_newton (const Pairings &in, OptimalTF_Result &result, const OptimalTF_GN_Parameters &gnParams=OptimalTF_GN_Parameters())
bool	optimal_tf_horn (const mp2p_icp::Pairings &in, const WeightParameters &wp, OptimalTF_Result &result)
bool	optimal_tf_olae (const Pairings &in, const WeightParameters &wp, OptimalTF_Result &result)
bool	pointcloud_sanity_check (const mrpt::maps::CPointsMap &pc, bool printWarnings=true)
Pairings	pt2ln_pl_to_pt2pt (const Pairings &in, const SolverContext &sc)
Pairings	run_matchers (const matcher_list_t &matchers, const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &local_wrt_global, const MatchContext &mc, const mrpt::optional_ref< MatchState > &userProvidedMS=std::nullopt)
void	vector_of_points_to_xyz (const std::vector< mrpt::math::TPoint3Df > &pts, std::vector< float > &xs, std::vector< float > &ys, std::vector< float > &zs)
template<class LAMBDA , class LAMBDA2 >
void	visit_correspondences (const Pairings &in, const WeightParameters &wp, const mrpt::math::TPoint3D &ct_local, const mrpt::math::TPoint3D &ct_global, OutlierIndices &in_out_outliers, LAMBDA lambda_each_pair, LAMBDA2 lambda_final, bool normalize_relative_point_vectors, const mrpt::optional_ref< VisitCorrespondencesStats > &outStats=std::nullopt)

Typedef Documentation

matcher_list_t

using mp2p_icp::matcher_list_t = typedef std::vector<mp2p_icp::Matcher::Ptr>

Definition at line 108 of file Matcher.h.

robust_sqrt_weight_func_t

using mp2p_icp::robust_sqrt_weight_func_t = typedef std::function<double(double )>

Definition at line 37 of file robust_kernels.h.

Enumeration Type Documentation

RobustKernel

enum mp2p_icp::RobustKernel : uint8_t

strong

Type to select a robust kernel. Support mrpt::typemeta::TEnumType to get/set from strings.

Enumerator
None	None: plain least-squares.
GemanMcClure	Generalized GemanMcClure kernel (Zhang97ivc, Agarwal15phd).
Cauchy	Cauchy kernel (Lee2013IROS).

Definition at line 25 of file robust_kernels.h.

Function Documentation

AttachToParameterSource() [1/2]

void mp2p_icp::AttachToParameterSource ( Parameterizable &  o, ParameterSource &  source  )

inline

Attach a single object to the given source. Provided for syntax consistency between single and vectors of objects.

Definition at line 154 of file Parameterizable.h.

AttachToParameterSource() [2/2]

template<typename T >

void mp2p_icp::AttachToParameterSource ( std::vector< std::shared_ptr< T >> &  setObjects, ParameterSource &  source  )

inline

Attach a vector of objects to the given source

Definition at line 140 of file Parameterizable.h.

create_robust_kernel()

robust_sqrt_weight_func_t mp2p_icp::create_robust_kernel ( const RobustKernel  kernel, const double  kernelParam  )

inline

Creates a functor with the sqrt of the weight function of a given kernel, or an empty functor if non-robust kernel is selected.

Implemented as inline to try to make the compiler to optimize.

Parameters

kernel	Selected kernel type.
kernelParam	Parameter of the kernel.

Returns

A functor.

We must return the sqrt of the weight function:

sqrt(w(x))=( ∂ρ(x)/∂x )/x = c²/(e²+c)²

with the loss function ρ(x) = (x²/2)/(c²+x²)

We must return the sqrt of the weight function:

sqrt(w(x))=( ∂ρ(x)/∂x )/x = c²/(e²+c²)

with the loss function ρ(x) = 0.5 c² log(1+x²/c²)

Definition at line 49 of file robust_kernels.h.

optimal_tf_horn()

bool mp2p_icp::optimal_tf_horn	(	const mp2p_icp::Pairings &	in,
		const WeightParameters &	wp,
		OptimalTF_Result &	result
	)

Classic Horn's solution for optimal SE(3) transformation, modified to accept point-to-point, line-to-line, plane-to-plane pairings. If you need point-to-line or point-to-plane pairings, use the wrapper mp2p_icp::Solver_Horn.

Note

On MRPT naming convention: "this"=global; "other"=local.

Returns

false If the number of pairings is too small for a unique solution, true on success.

Definition at line 199 of file optimal_tf_horn.cpp.

pt2ln_pl_to_pt2pt()

Pairings mp2p_icp::pt2ln_pl_to_pt2pt	(	const Pairings &	in,
		const SolverContext &	sc
	)

Returns a copy of the input pairings, adding new pt2pt pairings for those pt2ln and pt2pl pairings.

Definition at line 39 of file pt2ln_pl_to_pt2pt.cpp.

vector_of_points_to_xyz()

void mp2p_icp::vector_of_points_to_xyz	(	const std::vector< mrpt::math::TPoint3Df > &	pts,
		std::vector< float > &	xs,
		std::vector< float > &	ys,
		std::vector< float > &	zs
	)

Auxiliary function that can be used to convert a vector of TPoint3Df into the format expected by estimate_points_eigen()

Definition at line 116 of file estimate_points_eigen.cpp.