-
-
Notifications
You must be signed in to change notification settings - Fork 4.6k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
This is quite similar in spirit to IncrementalICP, but matches new clouds to all previously registered clouds instead of only the last one. This is computationally more expensive, but provides a more robust matching when successive clouds do not alway cover nearby parts of the environment. As this (just as IncrementalICP) is a standard method to apply ICP in practice, I expected to find this functionality in PCL. As it wasn't there yet, I wrote this class.
- Loading branch information
Michael Görner
committed
Nov 16, 2015
1 parent
2cf013e
commit 0a9f5c1
Showing
3 changed files
with
222 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2015, Michael 'v4hn' Goerner | ||
| * Copyright (c) 2015-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef PCL_REGISTRATION_IMPL_META_ICP_HPP_ | ||
| #define PCL_REGISTRATION_IMPL_META_ICP_HPP_ | ||
|
|
||
| template <typename PointT, typename Scalar> | ||
| pcl::registration::MetaICP<PointT, Scalar>::MetaICP () : | ||
| abs_transform_ (Matrix4::Identity ()) | ||
| {} | ||
|
|
||
| template <typename PointT, typename Scalar> bool | ||
| pcl::registration::MetaICP<PointT, Scalar>::registerCloud (const PointCloudConstPtr& new_cloud, const Matrix4& delta_estimate) | ||
| { | ||
| assert (icp_); | ||
|
|
||
| PointCloudPtr new_cloud_transformed (new pcl::PointCloud<PointT> ()); | ||
|
|
||
| if (!full_cloud_) | ||
| { | ||
| pcl::transformPointCloud(*new_cloud, *new_cloud_transformed, delta_estimate); | ||
| full_cloud_ = new_cloud_transformed; | ||
| abs_transform_ = delta_estimate; | ||
| return (true); | ||
| } | ||
|
|
||
| icp_->setInputSource (new_cloud); | ||
| icp_->setInputTarget (full_cloud_); | ||
|
|
||
| icp_->align (*new_cloud_transformed, abs_transform_ * delta_estimate); | ||
|
|
||
| bool converged = icp_->hasConverged (); | ||
|
|
||
| if ( converged ){ | ||
| abs_transform_ = icp_->getFinalTransformation (); | ||
| *full_cloud_ += *new_cloud_transformed; | ||
| } | ||
|
|
||
| return (converged); | ||
| } | ||
|
|
||
| template <typename PointT, typename Scalar> inline typename pcl::registration::MetaICP<PointT, Scalar>::Matrix4 | ||
| pcl::registration::MetaICP<PointT, Scalar>::getAbsoluteTransform () const | ||
| { | ||
| return (abs_transform_); | ||
| } | ||
|
|
||
| template <typename PointT, typename Scalar> inline void | ||
| pcl::registration::MetaICP<PointT, Scalar>::reset () | ||
| { | ||
| full_cloud_.reset (); | ||
| abs_transform_ = Matrix4::Identity (); | ||
| } | ||
|
|
||
| template <typename PointT, typename Scalar> inline void | ||
| pcl::registration::MetaICP<PointT, Scalar>::setICP (RegistrationPtr icp) | ||
| { | ||
| icp_ = icp; | ||
| } | ||
|
|
||
| #endif /*PCL_REGISTRATION_IMPL_META_ICP_HPP_*/ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2015, Michael 'v4hn' Goerner | ||
| * Copyright (c) 2015-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef PCL_REGISTRATION_META_ICP_H_ | ||
| #define PCL_REGISTRATION_META_ICP_H_ | ||
|
|
||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/registration/registration.h> | ||
|
|
||
| namespace pcl { | ||
| namespace registration { | ||
|
|
||
| /** \brief Meta @ref IterativeClosestPoint class | ||
| * | ||
| * This class provides a way to register a stream of clouds where each cloud | ||
| * will be aligned to the conglomerate of all previous clouds. | ||
| * | ||
| * \code | ||
| * IterativeClosestPoint<PointXYZ,PointXYZ>::Ptr icp (new IterativeClosestPoint<PointXYZ,PointXYZ>); | ||
| * icp->setMaxCorrespondenceDistance (0.05); | ||
| * icp->setMaximumIterations (50); | ||
| * | ||
| * MetaICP<PointXYZ> micp; | ||
| * micp.setICP (icp); | ||
| * | ||
| * while (true){ | ||
| * PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>); | ||
| * read_cloud (*cloud); | ||
| * micp.registerCloud (cloud); | ||
| * | ||
| * PointCloud<PointXYZ>::Ptr tmp (new PointCloud<PointXYZ>); | ||
| * transformPointCloud (*cloud, *tmp, micp.getAbsoluteTransform ()); | ||
| * write_cloud (*tmp); | ||
| * } | ||
| * \endcode | ||
| * | ||
| * \author Michael 'v4hn' Goerner | ||
| * \ingroup registration | ||
| */ | ||
| template <typename PointT, typename Scalar = float> | ||
| class MetaICP { | ||
| public: | ||
| typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr; | ||
| typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr; | ||
|
|
||
| typedef typename pcl::Registration<PointT,PointT,Scalar>::Ptr RegistrationPtr; | ||
| typedef typename pcl::Registration<PointT,PointT,Scalar>::Matrix4 Matrix4; | ||
|
|
||
| MetaICP (); | ||
|
|
||
| /** \brief Empty destructor */ | ||
| virtual ~MetaICP () {} | ||
|
|
||
| /** \brief Register new point cloud | ||
| * \note You have to set a valid registration object with @ref setICP before using this | ||
| * \param[in] cloud point cloud to register | ||
| * \param[in] delta_estimate estimated transform between last registered cloud and this one | ||
| * \return true if ICP converged | ||
| */ | ||
| bool | ||
| registerCloud (const PointCloudConstPtr& cloud, const Matrix4& delta_estimate = Matrix4::Identity ()); | ||
|
|
||
| /** \brief Get estimated transform */ | ||
| inline Matrix4 | ||
| getAbsoluteTransform () const; | ||
|
|
||
| /** \brief Reset MetaICP without resetting icp_ */ | ||
| inline void | ||
| reset (); | ||
|
|
||
| /** \brief Set registration instance used to align clouds */ | ||
| inline void | ||
| setICP (RegistrationPtr); | ||
| protected: | ||
|
|
||
| /** \brief registered meta point cloud */ | ||
| PointCloudPtr full_cloud_; | ||
|
|
||
| /** \brief registration instance to align clouds */ | ||
| RegistrationPtr icp_; | ||
|
|
||
| /** \brief estimated transform */ | ||
| Matrix4 abs_transform_; | ||
| }; | ||
|
|
||
| } | ||
| } | ||
|
|
||
| #include <pcl/registration/impl/meta_icp.hpp> | ||
|
|
||
| #endif /*PCL_REGISTRATION_META_ICP_H_*/ |