42#include <pcl/registration/icp.h>
52template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
77 using Ptr = shared_ptr<JointIterativeClosestPoint<PointSource, PointTarget, Scalar>>;
79 shared_ptr<const JointIterativeClosestPoint<PointSource, PointTarget, Scalar>>;
132 reg_name_ =
"JointIterativeClosestPoint";
144 PCL_WARN(
"[pcl::%s::setInputSource] Warning; JointIterativeClosestPoint expects "
145 "multiple clouds. Please use addInputSource.\n",
170 PCL_WARN(
"[pcl::%s::setInputTarget] Warning; JointIterativeClosestPoint expects "
171 "multiple clouds. Please use addInputTarget.\n",
248#include <pcl/registration/impl/joint_icp.hpp>
IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm.
typename Registration< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
bool use_reciprocal_correspondence_
pcl::registration::DefaultConvergenceCriteria< float >::Ptr convergence_criteria_
void setInputTarget(const PointCloudTargetConstPtr &cloud) override
Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)
void setInputSource(const PointCloudSourceConstPtr &cloud) override
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)
JointIterativeClosestPoint extends ICP to multiple frames which share the same transform.
std::vector< PointCloudTargetConstPtr > targets_
typename IterativeClosestPoint< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
typename PointCloudSource::Ptr PointCloudSourcePtr
void clearCorrespondenceEstimations()
Reset my list of correspondence estimation methods.
typename IterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSource PointCloudSource
shared_ptr< const JointIterativeClosestPoint< PointSource, PointTarget, Scalar > > ConstPtr
void addInputSource(const PointCloudSourceConstPtr &cloud)
Add a source cloud to the joint solver.
void determineRequiredBlobData() override
Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be cal...
typename KdTree::Ptr KdTreeReciprocalPtr
void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override
Rigid transformation computation method with initial guess.
typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr
PointIndices::Ptr PointIndicesPtr
void clearInputSources()
Reset my list of input sources.
typename IterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTarget PointCloudTarget
typename PointCloudTarget::Ptr PointCloudTargetPtr
std::vector< PointCloudSourceConstPtr > sources_
typename CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr
void addCorrespondenceEstimation(CorrespondenceEstimationPtr ce)
Add a manual correspondence estimator If you choose to do this, you must add one for each input sourc...
PointIndices::ConstPtr PointIndicesConstPtr
JointIterativeClosestPoint()
Empty constructor.
shared_ptr< JointIterativeClosestPoint< PointSource, PointTarget, Scalar > > Ptr
void setInputTarget(const PointCloudTargetConstPtr &) override
Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)
typename CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr
typename KdTree::Ptr KdTreePtr
std::vector< CorrespondenceEstimationPtr > correspondence_estimations_
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
~JointIterativeClosestPoint()
Empty destructor.
void clearInputTargets()
Reset my list of input targets.
void setInputSource(const PointCloudSourceConstPtr &) override
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)
void addInputTarget(const PointCloudTargetConstPtr &cloud)
Add a target cloud to the joint solver.
PointCloudConstPtr input_
Matrix4 final_transformation_
std::function< UpdateVisualizerCallbackSignature > update_visualizer_
double corr_dist_threshold_
CorrespondenceEstimationPtr correspondence_estimation_
Matrix4 previous_transformation_
CorrespondencesPtr correspondences_
TransformationEstimationPtr transformation_estimation_
double euclidean_fitness_epsilon_
double transformation_epsilon_
std::vector< CorrespondenceRejectorPtr > correspondence_rejectors_
int min_number_correspondences_
PointCloudTargetConstPtr target_
const std::string & getClassName() const
Abstract CorrespondenceEstimationBase class.
shared_ptr< const CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > ConstPtr
shared_ptr< CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > > Ptr
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
shared_ptr< KdTree< PointT, Tree > > Ptr
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr