cloudViewer::ICPRegistrationTools Class Reference

ICP point cloud registration algorithm (Besl et al.). More...

#include <RegistrationTools.h>

Inheritance diagram for cloudViewer::ICPRegistrationTools:

Collaboration diagram for cloudViewer::ICPRegistrationTools:

Classes
struct	Parameters
	ICP Parameters. More...

Public Types
enum	CONVERGENCE_TYPE { MAX_ERROR_CONVERGENCE = 0 , MAX_ITER_CONVERGENCE = 1 }
	Convergence control method. More...
enum	RESULT_TYPE {   ICP_NOTHING_TO_DO = 0 , ICP_APPLY_TRANSFO = 1 , ICP_ERROR = 100 , ICP_ERROR_REGISTRATION_STEP = 101 ,   ICP_ERROR_DIST_COMPUTATION = 102 , ICP_ERROR_NOT_ENOUGH_MEMORY = 103 , ICP_ERROR_CANCELED_BY_USER = 104 , ICP_ERROR_INVALID_INPUT = 105 }
	Errors. More...
enum	NORMALS_MATCHING { NO_NORMAL = 0 , OPPOSITE_NORMALS = 1 , SAME_SIDE_NORMALS = 2 , DOUBLE_SIDED_NORMALS = 3 }
	Normals matching method. More...
Public Types inherited from cloudViewer::RegistrationTools
enum	TRANSFORMATION_FILTERS {   SKIP_NONE = 0 , SKIP_RXY = 1 , SKIP_RYZ = 2 , SKIP_RXZ = 4 ,   SKIP_ROTATION = 7 , SKIP_TX = 8 , SKIP_TY = 16 , SKIP_TZ = 32 ,   SKIP_TRANSLATION = 56 }
	Transformation constraints. More...
using	ScaledTransformation = PointProjectionTools::Transformation
	Shortcut to PointProjectionTools::ScaledTransformation. More...

Static Public Member Functions
static RESULT_TYPE	Register (GenericIndexedCloudPersist *modelCloud, GenericIndexedMesh *modelMesh, GenericIndexedCloudPersist *dataCloud, const Parameters &params, ScaledTransformation &totalTrans, double &finalRMS, unsigned &finalPointCount, GenericProgressCallback *progressCb=nullptr)
	Registers two clouds or a cloud and a mesh. More...
Static Public Member Functions inherited from cloudViewer::RegistrationTools
static void	FilterTransformation (const ScaledTransformation &inTrans, int transformationFilters, const CCVector3 &toBeAlignedGravityCenter, const CCVector3 &referenceGravityCenter, ScaledTransformation &outTrans)

Additional Inherited Members
Static Protected Member Functions inherited from cloudViewer::RegistrationTools
static bool	RegistrationProcedure (GenericCloud *P, GenericCloud *X, ScaledTransformation &trans, bool adjustScale=false, ScalarField *coupleWeights=nullptr, PointCoordinateType aPrioriScale=1.0f, CCVector3 *Gp=nullptr, CCVector3 *Gx=nullptr)
	ICP Registration procedure with optional scale estimation. More...

Detailed Description

ICP point cloud registration algorithm (Besl et al.).

Definition at line 122 of file RegistrationTools.h.

Member Enumeration Documentation

CONVERGENCE_TYPE

enum cloudViewer::ICPRegistrationTools::CONVERGENCE_TYPE

Convergence control method.

Enumerator
MAX_ERROR_CONVERGENCE
MAX_ITER_CONVERGENCE

Definition at line 125 of file RegistrationTools.h.

NORMALS_MATCHING

enum cloudViewer::ICPRegistrationTools::NORMALS_MATCHING

Normals matching method.

Enumerator
NO_NORMAL
OPPOSITE_NORMALS
SAME_SIDE_NORMALS
DOUBLE_SIDED_NORMALS

Definition at line 144 of file RegistrationTools.h.

RESULT_TYPE

enum cloudViewer::ICPRegistrationTools::RESULT_TYPE

Errors.

Enumerator
ICP_NOTHING_TO_DO
ICP_APPLY_TRANSFO
ICP_ERROR
ICP_ERROR_REGISTRATION_STEP
ICP_ERROR_DIST_COMPUTATION
ICP_ERROR_NOT_ENOUGH_MEMORY
ICP_ERROR_CANCELED_BY_USER
ICP_ERROR_INVALID_INPUT

Definition at line 131 of file RegistrationTools.h.

Member Function Documentation

Register()

ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register ( GenericIndexedCloudPersist *  modelCloud, GenericIndexedMesh *  modelMesh, GenericIndexedCloudPersist *  dataCloud, const Parameters &  params, ScaledTransformation &  totalTrans, double &  finalRMS, unsigned &  finalPointCount, GenericProgressCallback *  progressCb = nullptr  )

static

Registers two clouds or a cloud and a mesh.

This method implements the ICP algorithm (Besl et al.).

Warning

Be sure to activate an INPUT/OUTPUT scalar field on the point cloud.

The mesh is always the reference/model entity.

Parameters

	modelCloud	the reference cloud or the vertices of the reference mesh --> won't move
	modelMesh	the reference mesh (optional) --> won't move
	dataCloud	the cloud to register --> will move
	params	ICP parameters
[out]	totalTrans	the resulting transformation (once the algorithm has converged)
[out]	finalRMS	final error (RMS)
[out]	finalPointCount	number of points used to compute the final RMS
	progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

algorithm result

Definition at line 145 of file RegistrationTools.cpp.

References abs(), Garbage< C >::add(), cloudViewer::ScalarField::addElement(), cloudViewer::PointCloudTpl< T >::addPoint(), cloudViewer::ReferenceCloud::addPointIndex(), cloudViewer::PointProjectionTools::Transformation::apply(), cloudViewer::PointProjectionTools::applyTransformation(), cloudViewer::DgmOctree::build(), cloudViewer::ReferenceCloud::clear(), ModelCloud::cloud, DataCloud::cloud, cloudViewer::DistanceComputationTools::computeCloud2CloudDistances(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistances(), cloudViewer::ScalarField::computeMinAndMax(), cloudViewer::NormalDistribution::computeParameters(), count, cloudViewer::DistanceComputationTools::Cloud2CloudDistancesComputationParams::CPSet, cloudViewer::DistanceComputationTools::Cloud2MeshDistancesComputationParams::CPSet, DataCloud::CPSetPlain, DataCloud::CPSetRef, cloudViewer::ScalarField::currentSize(), Garbage< C >::destroy(), cloudViewer::ReferenceCloud::enableScalarField(), cloudViewer::RegistrationTools::FilterTransformation(), cloudViewer::DgmOctree::findBestLevelForComparisonWithOctree(), cloudViewer::ReferenceCloud::getAssociatedCloud(), cloudViewer::NormalDistribution::getParameters(), cloudViewer::PointCloudTpl< T >::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::ReferenceCloud::getPointScalarValue(), cloudViewer::ScalarField::getValue(), ICP_APPLY_TRANSFO, ICP_ERROR, ICP_ERROR_CANCELED_BY_USER, ICP_ERROR_DIST_COMPUTATION, ICP_ERROR_INVALID_INPUT, ICP_ERROR_NOT_ENOUGH_MEMORY, ICP_ERROR_REGISTRATION_STEP, ICP_NOTHING_TO_DO, cloudViewer::PointCloudTpl< T >::invalidateBoundingBox(), cloudViewer::ReferenceCloud::invalidateBoundingBox(), cloudViewer::GenericProgressCallback::isCancelRequested(), cloudViewer::GenericDistribution::isValid(), cloudViewer::SquareMatrixTpl< Scalar >::isValid(), cloudViewer::LessThanEpsilon(), MAX_ERROR_CONVERGENCE, MAX_ITER_CONVERGENCE, cloudViewer::DistanceComputationTools::Cloud2CloudDistancesComputationParams::maxThreadCount, cloudViewer::DistanceComputationTools::Cloud2MeshDistancesComputationParams::maxThreadCount, cloudViewer::DistanceComputationTools::Cloud2MeshDistancesComputationParams::octreeLevel, ParallelSort, params, PC_ONE, cloudViewer::PointProjectionTools::Transformation::R, cloudViewer::RegistrationTools::RegistrationProcedure(), cloudViewer::ReferenceCloud::reserve(), cloudViewer::PointCloudTpl< T >::reserve(), cloudViewer::ScalarField::reserveSafe(), cloudViewer::ReferenceCloud::resize(), cloudViewer::PointCloud::resize(), cloudViewer::ScalarField::resizeSafe(), result, DataCloud::rotatedCloud, cloudViewer::PointProjectionTools::Transformation::s, cloudViewer::ReferenceCloud::setAssociatedCloud(), cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::ScalarField::setValue(), cloudViewer::GenericCloud::size(), cloudViewer::PointCloudTpl< T >::size(), cloudViewer::ReferenceCloud::size(), cloudViewer::RegistrationTools::SKIP_NONE, cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), cloudViewer::CloudSamplingTools::subsampleCloudRandomly(), cloudViewer::PointProjectionTools::Transformation::T, cloudViewer::GenericProgressCallback::textCanBeEdited(), cloudViewer::GenericProgressCallback::update(), cloudViewer::ScalarField::ValidValue(), ModelCloud::weights, and DataCloud::weights.

Referenced by define_RegistrationTools(), and ccRegistrationTools::ICP().

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The documentation for this class was generated from the following files:

• /root/ACloudViewer/core/include/RegistrationTools.h
• /root/ACloudViewer/core/src/RegistrationTools.cpp