Template Class FastGICP

Defined in File fast_gicp.hpp

Inheritance Relationships

Base Type

public fast_gicp::LsqRegistration< PointSource, PointTarget > (Template Class LsqRegistration)

Derived Types

public fast_gicp::FastGICPSingleThread< PointSource, PointTarget > (Template Class FastGICPSingleThread)
public fast_gicp::FastVGICP< PointSource, PointTarget > (Template Class FastVGICP)

Class Documentation

template<typename PointSource, typename PointTarget, typename SearchMethodSource = pcl::search::KdTree<PointSource>, typename SearchMethodTarget = pcl::search::KdTree<PointTarget>> class FastGICP : public fast_gicp::LsqRegistration<PointSource, PointTarget>

Fast GICP algorithm optimized for multi threading with OpenMP.

Subclassed by fast_gicp::FastGICPSingleThread< PointSource, PointTarget >, fast_gicp::FastVGICP< PointSource, PointTarget >

Public Types

using Scalar = float

using Matrix4 = typename pcl::Registration<PointSource, PointTarget, Scalar>::Matrix4

using PointCloudSource = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudSource

using PointCloudSourcePtr = typename PointCloudSource::Ptr

using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using PointCloudTarget = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudTarget

using PointCloudTargetPtr = typename PointCloudTarget::Ptr

using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using Ptr = pcl::shared_ptr<FastGICP<PointSource, PointTarget>>

using ConstPtr = pcl::shared_ptr<const FastGICP<PointSource, PointTarget>>

Public Functions

FastGICP()

virtual ~FastGICP() override

void setNumThreads(int n)

void setCorrespondenceRandomness(int k)

void setRegularizationMethod(RegularizationMethod method)

virtual void swapSourceAndTarget() override

virtual void clearSource() override

virtual void clearTarget() override

virtual void setInputSource(const PointCloudSourceConstPtr &cloud) override

virtual void setSourceCovariances(const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> &covs)

virtual void setInputTarget(const PointCloudTargetConstPtr &cloud) override

virtual void setTargetCovariances(const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> &covs)

inline const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> &getSourceCovariances() const

inline const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> &getTargetCovariances() const

Protected Functions

virtual void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override

virtual void update_correspondences(const Eigen::Isometry3d &trans)

virtual double linearize(const Eigen::Isometry3d &trans, Eigen::Matrix<double, 6, 6> *H, Eigen::Matrix<double, 6, 1> *b) override

virtual double compute_error(const Eigen::Isometry3d &trans) override

template<typename PointT> bool calculate_covariances(const typename pcl::PointCloud<PointT>::ConstPtr &cloud, pcl::search::Search<PointT> &kdtree, std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> &covariances)

Protected Attributes

int num_threads_

int k_correspondences_

RegularizationMethod regularization_method_

std::shared_ptr<SearchMethodSource> search_source_

std::shared_ptr<SearchMethodTarget> search_target_

std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> source_covs_

std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> target_covs_

std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> mahalanobis_

std::vector<int> correspondences_

std::vector<float> sq_distances_