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[feat] gicp: add convergence criteria and correspondence estimation #5287

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[feat] gicp: add convergence criteria and correspondence estimation #5287

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400a104
[feat] gicp: add convergence criteria and correspondence estimation
keineahnung2345 Jun 7, 2022
73c414e
[style] formatting
keineahnung2345 Jun 7, 2022
425d383
[fix] remove unused "delta"
keineahnung2345 Jun 7, 2022
29b85db
[fix] getConvergeCriteria return type
keineahnung2345 Jun 7, 2022
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48 changes: 48 additions & 0 deletions registration/include/pcl/registration/gicp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@

#include <pcl/registration/bfgs.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/gicp_convergence_criteria.h>

namespace pcl {
/** \brief GeneralizedIterativeClosestPoint is an ICP variant that implements the
Expand Down Expand Up @@ -76,6 +77,17 @@ class GeneralizedIterativeClosestPoint
using IterativeClosestPoint<PointSource, PointTarget>::inlier_threshold_;
using IterativeClosestPoint<PointSource, PointTarget>::min_number_correspondences_;
using IterativeClosestPoint<PointSource, PointTarget>::update_visualizer_;
using IterativeClosestPoint<PointSource, PointTarget>::correspondences_;
using IterativeClosestPoint<PointSource, PointTarget>::correspondence_estimation_;
using IterativeClosestPoint<PointSource, PointTarget>::correspondence_rejectors_;
using IterativeClosestPoint<PointSource, PointTarget>::setUseReciprocalCorrespondences;
using IterativeClosestPoint<PointSource, PointTarget>::getUseReciprocalCorrespondences;
using IterativeClosestPoint<PointSource, PointTarget>::determineRequiredBlobData;
using IterativeClosestPoint<PointSource, PointTarget>::use_reciprocal_correspondence_;
using IterativeClosestPoint<PointSource, PointTarget>::source_has_normals_;
using IterativeClosestPoint<PointSource, PointTarget>::target_has_normals_;
using IterativeClosestPoint<PointSource, PointTarget>::need_source_blob_;
using IterativeClosestPoint<PointSource, PointTarget>::need_target_blob_;

using PointCloudSource = pcl::PointCloud<PointSource>;
using PointCloudSourcePtr = typename PointCloudSource::Ptr;
Expand All @@ -102,6 +114,9 @@ class GeneralizedIterativeClosestPoint

using Vector6d = Eigen::Matrix<double, 6, 1>;

typename pcl::registration::GICPConvergenceCriteria<float>::Ptr
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GeneralizedIterativeClosestPoint inherits from IterativeClosestPoint<PointSource, PointTarget, Scalar = float> so use float here.

convergence_criteria_;

/** \brief Empty constructor. */
GeneralizedIterativeClosestPoint()
: k_correspondences_(20)
Expand All @@ -125,6 +140,39 @@ class GeneralizedIterativeClosestPoint
estimateRigidTransformationBFGS(
cloud_src, indices_src, cloud_tgt, indices_tgt, transformation_matrix);
};
convergence_criteria_.reset(
new pcl::registration::GICPConvergenceCriteria<float>(
nr_iterations_, transformation_, previous_transformation_, *correspondences_));
}

/**
* \brief Due to `convergence_criteria_` holding references to the class members,
* it is tricky to correctly implement its copy and move operations correctly. This
* can result in subtle bugs and to prevent them, these operations for GICP have
* been disabled.
*
* \todo: remove deleted ctors and assignments operations after resolving the issue
*/
GeneralizedIterativeClosestPoint(const GeneralizedIterativeClosestPoint&) = delete;
GeneralizedIterativeClosestPoint(GeneralizedIterativeClosestPoint&&) = delete;
GeneralizedIterativeClosestPoint&
operator=(const GeneralizedIterativeClosestPoint&) = delete;
GeneralizedIterativeClosestPoint&
operator=(GeneralizedIterativeClosestPoint&&) = delete;

/** \brief Returns a pointer to the GICPConvergenceCriteria used by the
* GeneralizedIterativeClosestPoint class. This allows to check the convergence state after the
* align() method as well as to configure GICPConvergenceCriteria's parameters not
* available through the GICP API before the align() method is called. Please note that
* the align method sets max_iterations_, transformation_epsilon_ and
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ICP version: max_iterations_, euclidean_fitness_epsilon_, transformation_epsilon_
GICP version: max_iterations_, transformation_epsilon_, rotation_epsilon_

* rotation_epsilon_ and therefore overrides the default / set values of the
* GICPConvergenceCriteria instance. \return Pointer to the GeneralizedIterativeClosestPoint's
* GICPConvergenceCriteria.
*/
inline typename pcl::registration::GICPConvergenceCriteria<double>::Ptr
getConvergeCriteria()
{
return convergence_criteria_;
}

/** \brief Provide a pointer to the input dataset
Expand Down
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