Trimmed ICP algorithm for 3D point clouds. More...
#include <Icp.hpp>
Inheritance diagram for TRTK::IcpTrimmed3D< ValueType >: Collaboration diagram for TRTK::IcpTrimmed3D< ValueType >:Public Types | |
| typedef super::Matrix | Matrix |
Public Member Functions | |
| ValueType | compute () |
| Call this function to perform the transformation estimation. The RMSE is returned. | |
| void | setMinimumOverlap (ValueType value) |
| Sets the minimum overlap between the data points and the model points. | |
| void | setSourcePoints (const std::vector< Coordinate< ValueType > > &source_points) |
| Set the data points as decribed here. | |
| void | setTargetPoints (const std::vector< Coordinate< ValueType > > &target_points) |
| Set the model points as decribed here. | |
| void | setInitialEstimation (const Matrix &transformation) |
| Set the initial transformation from the source to the target point coordinate system. | |
| void | setEstimationAlgorithm (EstimateTransformation3D< ValueType > &estimator) |
| Set the transformation estimator. | |
| void | setMaximumNumberIterations (unsigned number) |
| Set the maximum number of iterations performed by an algorithm (default is 20). | |
| void | setMaximumRMSE (ValueType value) |
| Set an upper bound of the root mean square error; an algorithm terminates if the error of the current estimation falls below this value (default is 0). | |
| void | setEpsApproximate (float value) |
| Set the value for the eps-approximate neighbor search. The higher the value the faster the search (but also the less accurate) (default is 0). | |
| void | abortComputation () |
| Call this function to abort a running algorithm. | |
| const Matrix & | getTransformation () |
| Returns the estimated transformation in the form of a homogeneous matrix. | |
Public Attributes | |
| Signal< unsigned > | progress |
| Provides the current state of computation (from 0 to 100). | |
Protected Attributes | |
| unsigned | dimension |
| Dimension of the source and target points. | |
|
const std::vector< Coordinate < ValueType > > * | source_points |
| Reference to the data points given by the user. An algorithm might store a local copy which is transformed during the registration procedure. | |
| flann::Matrix< ValueType > | target_points |
| Internal copy of the model points given by the user. | |
| flann::Matrix< ValueType > | query_point |
| Query point used to search the kd-tree. | |
| flann::Matrix< ValueType > | distances |
| Distance to the nearest neighbor obtained by a nearest neighbor search. | |
| flann::Matrix< int > | indices |
| Index of the nearest neighbor in target_points obtained by a nearest neighbor search. | |
|
flann::Index< flann::L2 < ValueType > > * | tree |
| Data structure of the search index (kd-tree). | |
| float | eps |
| Eps-approximate value for the nearest neighbor search. | |
|
EstimateTransformation3D < ValueType > * | estimator |
| Reference to the user-provided estimator. | |
| unsigned | maximum_number_iterations |
| Maximum possible number of iterations during the computation. | |
| ValueType | maximum_rms_error |
| Iteration stop criterion. If the current RMSE falls below this bound, an algorithm might terminate. | |
| Matrix | transformation |
| Internally stored (homogeneous) transformation. | |
| volatile bool | abort |
| This flag must be checked during iterations; can be set by other threads through abortComputation(). | |
Trimmed ICP algorithm for 3D point clouds.
| ValueType | Scalar type (must be a floating point type). |
This algorithm implements a variant of the iterative closest point algorithm which tries to solve the problem of geometrically aligning two roughly pre-registered, partially overlapping, rigid, noisy 3D point sets.
The new algorithm is based on the consistent use of the Least Trimmed Squares approach in all phases of the operation. TrICP is applicable to overlaps under 50%, shall be robust to erroneous and incomplete measurements. ICP is a special case of TrICP when the overlap parameter is 100%. [cmp. Chetverikov 2005]
For some additional information and an example of how to use this class, please have a look at the interface class.
Chetverikov et al., "Robust Euclidean alignment of 3D point sets - The trimmed iterative closest point algorithm", Image and Vision Computing, Volume 23, Number 3, Pages 299 - 309, 2005, Elsevier
Definition at line 675 of file Icp.hpp.
| void TRTK::IcpBase< ValueType >::setSourcePoints | ( | const std::vector< Coordinate< ValueType > > & | source_points ) | [virtual, inherited] |
Set the data points as decribed here.
Only a reference is stored.
Implements TRTK::IcpInterface< ValueType >.
| void TRTK::IcpBase< ValueType >::setTargetPoints | ( | const std::vector< Coordinate< ValueType > > & | target_points ) | [virtual, inherited] |
Set the model points as decribed here.
The targe points are copied.
Implements TRTK::IcpInterface< ValueType >.
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