Iterative Closest Point registration. More...

#include <icp.h>

Public Types
typedef pcl::PointCloud < PointXYZRGBNormal >	CloudXYZRGBNormal
typedef CloudXYZRGBNormal::ConstPtr	CloudXYZRGBNormalConstPtr
typedef CloudXYZRGBNormal::Ptr	CloudXYZRGBNormalPtr
typedef pcl::ihs::Mesh	Mesh
typedef pcl::ihs::MeshConstPtr	MeshConstPtr
typedef pcl::ihs::MeshPtr	MeshPtr
typedef pcl::PointXYZRGBNormal	PointXYZRGBNormal
Public Member Functions
bool	findTransformation (const MeshConstPtr &mesh_model, const CloudXYZRGBNormalConstPtr &cloud_data, const Eigen::Matrix4f &T_init, Eigen::Matrix4f &T_final)
	Find the transformation that aligns the data cloud (source) to the model mesh (target).
	ICP ()
	Constructor.

void	setEpsilon (const float epsilon)
	Convergence is detected when the change of the fitness between the current and previous iteration becomes smaller than the given epsilon (set in cm^2). The fitness is the mean squared euclidean distance between corresponding points.
float	getEpsilon () const

void	setMaxIterations (const unsigned int max_iter)
	The registration fails if the number of iterations exceeds the maximum number of iterations.
unsigned int	getMaxIterations () const

void	setMinOverlap (const float overlap)
	The registration fails at the state of convergence if the overlap between the model and data shape is smaller than a minimum overlap. The overlap is the fraction of correspondences (after rejection) to the initial number of data points.
float	getMinOverlap () const

void	setMaxFitness (const float fitness)
	The registration fails at the state of convergence if the fitness is bigger than this threshold (set in cm^2)
float	getMaxFitness () const

void	setCorrespondenceRejectionFactor (const float factor)
	Correspondences are rejected if the squared distance is above a threshold. This threshold is initialized with infinity (all correspondences are accepted in the first iteration). The threshold of the next iterations is set to the fitness of the current iteration multiplied by the factor set by this method.
float	getCorrespondenceRejectionFactor () const

void	setMaxAngle (const float angle)
	Correspondences are rejected if the angle between the normals is bigger than this threshold. Set in degrees.
float	getMaxAngle () const
Private Types
typedef pcl::PointCloud < PointNormal >	CloudNormal
typedef CloudNormal::ConstPtr	CloudNormalConstPtr
typedef CloudNormal::Ptr	CloudNormalPtr
typedef pcl::KdTree< PointNormal >	KdTree
typedef boost::shared_ptr < const KdTree >	KdTreeConstPtr
typedef boost::shared_ptr< KdTree >	KdTreePtr
typedef pcl::PointNormal	PointNormal
Private Member Functions
bool	minimizePointPlane (const CloudNormal &cloud_source, const CloudNormal &cloud_target, Eigen::Matrix4f &T) const
	Finds the transformation that minimizes the point to plane distance from the source to the target cloud. The input clouds must be arranged to have one to one correspondences (point 0 in source corresponds to point 0 in target, point 1 in source to point 1 in target and so on).
CloudNormalConstPtr	selectDataPoints (const CloudXYZRGBNormalConstPtr &cloud_data) const
	Selects the valid data points. The input cloud is organized -> contains nans which are removed.
CloudNormalConstPtr	selectModelPoints (const MeshConstPtr &mesh_model, const Eigen::Matrix4f &T_inv) const
	Selects the model points that are pointing towards to the camera (data coordinate system = camera coordinate system).
Private Attributes
float	epsilon_
float	factor_
KdTreePtr	kd_tree_
float	max_angle_
float	max_fitness_
unsigned int	max_iterations_
float	min_overlap_

Detailed Description

Iterative Closest Point registration.

Author:: Martin Saelzle

Definition at line 71 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

Member Typedef Documentation

typedef pcl::PointCloud<PointNormal> pcl::ihs::ICP::CloudNormal [private]

Definition at line 169 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef CloudNormal::ConstPtr pcl::ihs::ICP::CloudNormalConstPtr [private]

Definition at line 171 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef CloudNormal::Ptr pcl::ihs::ICP::CloudNormalPtr [private]

Definition at line 170 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::ICP::CloudXYZRGBNormal

Definition at line 76 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::ICP::CloudXYZRGBNormalConstPtr

Definition at line 78 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef CloudXYZRGBNormal::Ptr pcl::ihs::ICP::CloudXYZRGBNormalPtr

Definition at line 77 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::KdTree<PointNormal> pcl::ihs::ICP::KdTree [private]

Definition at line 173 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef boost::shared_ptr<const KdTree> pcl::ihs::ICP::KdTreeConstPtr [private]

Definition at line 175 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef boost::shared_ptr<KdTree> pcl::ihs::ICP::KdTreePtr [private]

Definition at line 174 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::ihs::Mesh pcl::ihs::ICP::Mesh

Definition at line 80 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::ihs::MeshConstPtr pcl::ihs::ICP::MeshConstPtr

Definition at line 82 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::ihs::MeshPtr pcl::ihs::ICP::MeshPtr

Definition at line 81 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::PointNormal pcl::ihs::ICP::PointNormal [private]

Definition at line 168 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

typedef pcl::PointXYZRGBNormal pcl::ihs::ICP::PointXYZRGBNormal

Definition at line 75 of file apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h.

Constructor & Destructor Documentation

pcl::ihs::ICP::ICP ( )

Constructor.

Definition at line 56 of file apps/in_hand_scanner/src/icp.cpp.

Member Function Documentation

bool pcl::ihs::ICP::findTransformation	(	const MeshConstPtr &	mesh_model,
		const CloudXYZRGBNormalConstPtr &	cloud_data,
		const Eigen::Matrix4f &	T_init,
		Eigen::Matrix4f &	T_final
	)

Find the transformation that aligns the data cloud (source) to the model mesh (target).

Parameters:

[in]	mesh_model	Model mesh (target).
[in]	cloud_data	Data cloud (source).
[in]	T_init	Initial guess for the transformation. [out] T_final The computed transformation.

Returns:: true if success.

Definition at line 156 of file apps/in_hand_scanner/src/icp.cpp.

float pcl::ihs::ICP::getCorrespondenceRejectionFactor ( ) const

Definition at line 134 of file apps/in_hand_scanner/src/icp.cpp.

float pcl::ihs::ICP::getEpsilon ( ) const

Definition at line 78 of file apps/in_hand_scanner/src/icp.cpp.

float pcl::ihs::ICP::getMaxAngle ( ) const

Definition at line 148 of file apps/in_hand_scanner/src/icp.cpp.

float pcl::ihs::ICP::getMaxFitness ( ) const

Definition at line 120 of file apps/in_hand_scanner/src/icp.cpp.

unsigned int pcl::ihs::ICP::getMaxIterations ( ) const

Definition at line 92 of file apps/in_hand_scanner/src/icp.cpp.

float pcl::ihs::ICP::getMinOverlap ( ) const

Definition at line 106 of file apps/in_hand_scanner/src/icp.cpp.

bool pcl::ihs::ICP::minimizePointPlane	(	const CloudNormal &	cloud_source,
		const CloudNormal &	cloud_target,
		Eigen::Matrix4f &	T
	)		const `[private]`

Finds the transformation that minimizes the point to plane distance from the source to the target cloud. The input clouds must be arranged to have one to one correspondences (point 0 in source corresponds to point 0 in target, point 1 in source to point 1 in target and so on).

Parameters:

[in]	cloud_source	Source cloud (data).
[in]	cloud_target	Target cloud (model).
[out]	T	The computed transformation.

Returns:: true if success

Definition at line 426 of file apps/in_hand_scanner/src/icp.cpp.

pcl::ihs::ICP::CloudNormalConstPtr pcl::ihs::ICP::selectDataPoints ( const CloudXYZRGBNormalConstPtr & cloud_data ) const [private]

Selects the valid data points. The input cloud is organized -> contains nans which are removed.

Parameters:

[in] cloud_data Input cloud.

Returns:: Cloud containing the selected points.

Definition at line 402 of file apps/in_hand_scanner/src/icp.cpp.

pcl::ihs::ICP::CloudNormalConstPtr pcl::ihs::ICP::selectModelPoints	(	const MeshConstPtr &	mesh_model,
		const Eigen::Matrix4f &	T_inv
	)		const `[private]`

Selects the model points that are pointing towards to the camera (data coordinate system = camera coordinate system).

Parameters:

[in]	mesh_model	Input mesh.
[in]	T_inv	Transformation that brings the model mesh into the camera coordinate system.

Returns:: Cloud containing the selected points (the connectivity information of the mesh is currently not used during the registration).

Definition at line 374 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setCorrespondenceRejectionFactor ( const float factor )

Correspondences are rejected if the squared distance is above a threshold. This threshold is initialized with infinity (all correspondences are accepted in the first iteration). The threshold of the next iterations is set to the fitness of the current iteration multiplied by the factor set by this method.

Note:: Must be greater or equal one. Smaller values are set to one.

Definition at line 128 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setEpsilon ( const float epsilon )

Convergence is detected when the change of the fitness between the current and previous iteration becomes smaller than the given epsilon (set in cm^2). The fitness is the mean squared euclidean distance between corresponding points.

Note:: Only accepted if it is greater than 0.

Definition at line 72 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setMaxAngle ( const float angle )

Correspondences are rejected if the angle between the normals is bigger than this threshold. Set in degrees.

Note:: Must be between 180 degrees and 0. Values outside this range are clamped to the nearest valid value.

Definition at line 142 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setMaxFitness ( const float fitness )

The registration fails at the state of convergence if the fitness is bigger than this threshold (set in cm^2)

Note:: Must be greater than zero.

Definition at line 114 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setMaxIterations ( const unsigned int max_iter )

The registration fails if the number of iterations exceeds the maximum number of iterations.

Note:: Must be greater than 0. Smaller values are set to 1.

Definition at line 86 of file apps/in_hand_scanner/src/icp.cpp.

void pcl::ihs::ICP::setMinOverlap ( const float overlap )

The registration fails at the state of convergence if the overlap between the model and data shape is smaller than a minimum overlap. The overlap is the fraction of correspondences (after rejection) to the initial number of data points.