IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default. More...

#include <pcl/registration/icp.h>

Inheritance diagram for pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >:

Public Types
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudSource	PointCloudSource

typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudTarget	PointCloudTarget

typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::Matrix4	Matrix4

typedef boost::shared_ptr < IterativeClosestPoint < PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr < const IterativeClosestPoint < PointSource, PointTarget, Scalar > >	ConstPtr

Public Types inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
typedef Registration < PointSource, PointTarget, Scalar >::PointCloudSource	PointCloudSource

typedef PointCloudSource::Ptr	PointCloudSourcePtr

typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr

typedef Registration < PointSource, PointTarget, Scalar >::PointCloudTarget	PointCloudTarget

typedef PointCloudTarget::Ptr	PointCloudTargetPtr

typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef boost::shared_ptr < IterativeClosestPoint < PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr < const IterativeClosestPoint < PointSource, PointTarget, Scalar > >	ConstPtr

typedef Registration < PointSource, PointTarget, Scalar >::Matrix4	Matrix4

Public Types inherited from pcl::Registration< PointSource, PointTarget, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4

typedef boost::shared_ptr < Registration< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr < const Registration < PointSource, PointTarget, Scalar > >	ConstPtr

typedef pcl::registration::CorrespondenceRejector::Ptr	CorrespondenceRejectorPtr

typedef pcl::search::KdTree < PointTarget >	KdTree

typedef pcl::search::KdTree < PointTarget >::Ptr	KdTreePtr

typedef pcl::search::KdTree < PointSource >	KdTreeReciprocal

typedef KdTree::Ptr	KdTreeReciprocalPtr

typedef pcl::PointCloud < PointSource >	PointCloudSource

typedef PointCloudSource::Ptr	PointCloudSourcePtr

typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr

typedef pcl::PointCloud < PointTarget >	PointCloudTarget

typedef PointCloudTarget::Ptr	PointCloudTargetPtr

typedef PointCloudTarget::ConstPtr	PointCloudTargetConstPtr

typedef KdTree::PointRepresentationConstPtr	PointRepresentationConstPtr

typedef pcl::registration::TransformationEstimation < PointSource, PointTarget, Scalar >	TransformationEstimation

typedef TransformationEstimation::Ptr	TransformationEstimationPtr

typedef TransformationEstimation::ConstPtr	TransformationEstimationConstPtr

typedef pcl::registration::CorrespondenceEstimationBase < PointSource, PointTarget, Scalar >	CorrespondenceEstimation

typedef CorrespondenceEstimation::Ptr	CorrespondenceEstimationPtr

typedef CorrespondenceEstimation::ConstPtr	CorrespondenceEstimationConstPtr

Public Types inherited from pcl::PCLBase< PointSource >
typedef pcl::PointCloud < PointSource >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < PointIndices >	PointIndicesPtr

typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	IterativeClosestPointWithNormals ()
	Empty constructor. More...

virtual	~IterativeClosestPointWithNormals ()
	Empty destructor. More...

Public Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
	IterativeClosestPoint ()
	Empty constructor. More...

virtual	~IterativeClosestPoint ()
	Empty destructor. More...

pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr	getConvergeCriteria ()
	Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class. More...

virtual void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

virtual void	setInputTarget (const PointCloudTargetConstPtr &cloud)
	Provide a pointer to the input target (e.g., the point cloud that we want to align to the target) More...

void	setUseReciprocalCorrespondences (bool use_reciprocal_correspondence)
	Set whether to use reciprocal correspondence or not. More...

bool	getUseReciprocalCorrespondences () const
	Obtain whether reciprocal correspondence are used or not. More...

Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
	Registration ()
	Empty constructor. More...

virtual	~Registration ()
	destructor. More...

void	setTransformationEstimation (const TransformationEstimationPtr &te)
	Provide a pointer to the transformation estimation object. More...

void	setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce)
	Provide a pointer to the correspondence estimation object. More...

	PCL_DEPRECATED (void setInputCloud(const PointCloudSourceConstPtr &cloud),"[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

	PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud(),"[pcl::registration::Registration::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
	Get a pointer to the input point cloud dataset target. More...

PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...

PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...

void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud. More...

void	setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...

KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud. More...

Matrix4	getFinalTransformation ()
	Get the final transformation matrix estimated by the registration method. More...

Matrix4	getLastIncrementalTransformation ()
	Get the last incremental transformation matrix estimated by the registration method. More...

void	setMaximumIterations (int nr_iterations)
	Set the maximum number of iterations the internal optimization should run for. More...

int	getMaximumIterations ()
	Get the maximum number of iterations the internal optimization should run for, as set by the user. More...

void	setRANSACIterations (int ransac_iterations)
	Set the number of iterations RANSAC should run for. More...

double	getRANSACIterations ()
	Get the number of iterations RANSAC should run for, as set by the user. More...

void	setRANSACOutlierRejectionThreshold (double inlier_threshold)
	Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More...

double	getRANSACOutlierRejectionThreshold ()
	Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More...

void	setMaxCorrespondenceDistance (double distance_threshold)
	Set the maximum distance threshold between two correspondent points in source <-> target. More...

double	getMaxCorrespondenceDistance ()
	Get the maximum distance threshold between two correspondent points in source <-> target. More...

void	setTransformationEpsilon (double epsilon)
	Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...

double	getTransformationEpsilon ()
	Get the transformation epsilon (maximum allowable difference between two consecutive transformations) as set by the user. More...

void	setEuclideanFitnessEpsilon (double epsilon)
	Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...

double	getEuclideanFitnessEpsilon ()
	Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More...

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...

template<typename FunctionSignature >
bool	registerVisualizationCallback (boost::function< FunctionSignature > &visualizerCallback)
	Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More...

double	getFitnessScore (double max_range=std::numeric_limits< double >::max())
	Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) More...

double	getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b)
	Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More...

bool	hasConverged ()
	Return the state of convergence after the last align run. More...

void	align (PointCloudSource &output)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...

void	align (PointCloudSource &output, const Matrix4 &guess)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...

const std::string &	getClassName () const
	Abstract class get name method. More...

bool	initCompute ()
	Internal computation initalization. More...

bool	initComputeReciprocal ()
	Internal computation when reciprocal lookup is needed. More...

void	addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector)
	Add a new correspondence rejector to the list. More...

std::vector < CorrespondenceRejectorPtr >	getCorrespondenceRejectors ()
	Get the list of correspondence rejectors. More...

bool	removeCorrespondenceRejector (unsigned int i)
	Remove the i-th correspondence rejector in the list. More...

void	clearCorrespondenceRejectors ()
	Clear the list of correspondence rejectors. More...

Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual void	transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
	Apply a rigid transform to a given dataset. More...

Protected Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
virtual void	computeTransformation (PointCloudSource &output, const Matrix4 &guess)
	Rigid transformation computation method with initial guess. More...

Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
bool	searchForNeighbors (const PointCloudSource &cloud, int index, std::vector< int > &indices, std::vector< float > &distances)
	Search for the closest nearest neighbor of a given point. More...

Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Additional Inherited Members
Public Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
pcl::registration::DefaultConvergenceCriteria < Scalar >::Ptr	convergence_criteria_

Protected Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
size_t	x_idx_offset_
	XYZ fields offset. More...

size_t	y_idx_offset_

size_t	z_idx_offset_

size_t	nx_idx_offset_
	Normal fields offset. More...

size_t	ny_idx_offset_

size_t	nz_idx_offset_

bool	use_reciprocal_correspondence_
	The correspondence type used for correspondence estimation. More...

bool	source_has_normals_
	Internal check whether source dataset has normals or not. More...

bool	target_has_normals_
	Internal check whether target dataset has normals or not. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

Author: Radu B. Rusu

Definition at line 290 of file icp.h.