ndt_2d.h
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#ifndef PCL_NDT_2D_H_
#define PCL_NDT_2D_H_
#include <pcl/registration/registration.h>
namespace pcl
{
/** \brief @b NormalDistributionsTransform2D provides an implementation of the
* Normal Distributions Transform algorithm for scan matching.
*
* This implementation is intended to match the definition:
* Peter Biber and Wolfgang Straßer. The normal distributions transform: A
* new approach to laser scan matching. In Proceedings of the IEEE In-
* ternational Conference on Intelligent Robots and Systems (IROS), pages
* 2743–2748, Las Vegas, USA, October 2003.
*
* \author James Crosby
*/
template <typename PointSource, typename PointTarget>
class NormalDistributionsTransform2D : public Registration<PointSource, PointTarget>
{
typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;
typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
public:
typedef boost::shared_ptr< NormalDistributionsTransform2D<PointSource, PointTarget> > Ptr;
typedef boost::shared_ptr< const NormalDistributionsTransform2D<PointSource, PointTarget> > ConstPtr;
/** \brief Empty constructor. */
NormalDistributionsTransform2D ()
: Registration<PointSource,PointTarget> (),
grid_centre_ (0,0), grid_step_ (1,1), grid_extent_ (20,20), newton_lambda_ (1,1,1)
{
reg_name_ = "NormalDistributionsTransform2D";
}
/** \brief Empty destructor */
virtual ~NormalDistributionsTransform2D () {}
/** \brief centre of the ndt grid (target coordinate system)
* \param centre value to set
*/
virtual void
setGridCentre (const Eigen::Vector2f& centre) { grid_centre_ = centre; }
/** \brief Grid spacing (step) of the NDT grid
* \param[in] step value to set
*/
virtual void
setGridStep (const Eigen::Vector2f& step) { grid_step_ = step; }
/** \brief NDT Grid extent (in either direction from the grid centre)
* \param[in] extent value to set
*/
virtual void
setGridExtent (const Eigen::Vector2f& extent) { grid_extent_ = extent; }
/** \brief NDT Newton optimisation step size parameter
* \param[in] lambda step size: 1 is simple newton optimisation, smaller values may improve convergence
*/
virtual void
setOptimizationStepSize (const double& lambda) { newton_lambda_ = Eigen::Vector3d (lambda, lambda, lambda); }
/** \brief NDT Newton optimisation step size parameter
* \param[in] lambda step size: (1,1,1) is simple newton optimisation,
* smaller values may improve convergence, or elements may be set to
* zero to prevent optimisation over some parameters
*
* This overload allows control of updates to the individual (x, y,
* theta) free parameters in the optimisation. If, for example, theta is
* believed to be close to the correct value a small value of lambda[2]
* should be used.
*/
virtual void
setOptimizationStepSize (const Eigen::Vector3d& lambda) { newton_lambda_ = lambda; }
protected:
/** \brief Rigid transformation computation method with initial guess.
* \param[out] output the transformed input point cloud dataset using the rigid transformation found
* \param[in] guess the initial guess of the transformation to compute
*/
virtual void
computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess);
using Registration<PointSource, PointTarget>::reg_name_;
using Registration<PointSource, PointTarget>::target_;
using Registration<PointSource, PointTarget>::converged_;
using Registration<PointSource, PointTarget>::nr_iterations_;
using Registration<PointSource, PointTarget>::max_iterations_;
using Registration<PointSource, PointTarget>::transformation_epsilon_;
using Registration<PointSource, PointTarget>::transformation_;
using Registration<PointSource, PointTarget>::previous_transformation_;
using Registration<PointSource, PointTarget>::final_transformation_;
using Registration<PointSource, PointTarget>::update_visualizer_;
using Registration<PointSource, PointTarget>::indices_;
Eigen::Vector2f grid_centre_;
Eigen::Vector2f grid_step_;
Eigen::Vector2f grid_extent_;
Eigen::Vector3d newton_lambda_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl
#include <pcl/registration/impl/ndt_2d.hpp>
#endif // ndef PCL_NDT_2D_H_
pcl::NormalDistributionsTransform2D::newton_lambda_
Eigen::Vector3d newton_lambda_
Definition: ndt_2d.h:147
pcl::NormalDistributionsTransform2D::setGridCentre
virtual void setGridCentre(const Eigen::Vector2f &centre)
centre of the ndt grid (target coordinate system)
Definition: ndt_2d.h:91
pcl::NormalDistributionsTransform2D::setGridStep
virtual void setGridStep(const Eigen::Vector2f &step)
Grid spacing (step) of the NDT grid.
Definition: ndt_2d.h:97
pcl::NormalDistributionsTransform2D
NormalDistributionsTransform2D provides an implementation of the Normal Distributions Transform algor...
Definition: ndt_2d.h:60
pcl
Definition: cloud_iterator.h:46
pcl::NormalDistributionsTransform2D::Ptr
boost::shared_ptr< NormalDistributionsTransform2D< PointSource, PointTarget > > Ptr
Definition: ndt_2d.h:73
pcl::NormalDistributionsTransform2D::NormalDistributionsTransform2D
NormalDistributionsTransform2D()
Empty constructor.
Definition: ndt_2d.h:77
pcl::NormalDistributionsTransform2D::ConstPtr
boost::shared_ptr< const NormalDistributionsTransform2D< PointSource, PointTarget > > ConstPtr
Definition: ndt_2d.h:74
pcl::NormalDistributionsTransform2D::computeTransformation
virtual void computeTransformation(PointCloudSource &output, const Eigen::Matrix4f &guess)
Rigid transformation computation method with initial guess.
Definition: ndt_2d.hpp:376
pcl::NormalDistributionsTransform2D::setOptimizationStepSize
virtual void setOptimizationStepSize(const double &lambda)
NDT Newton optimisation step size parameter.
Definition: ndt_2d.h:109
pcl::NormalDistributionsTransform2D::grid_centre_
Eigen::Vector2f grid_centre_
Definition: ndt_2d.h:144
pcl::NormalDistributionsTransform2D::setGridExtent
virtual void setGridExtent(const Eigen::Vector2f &extent)
NDT Grid extent (in either direction from the grid centre)
Definition: ndt_2d.h:103
pcl::NormalDistributionsTransform2D::grid_step_
Eigen::Vector2f grid_step_
Definition: ndt_2d.h:145
pcl::Registration
Registration represents the base registration class for general purpose, ICP-like methods...
Definition: registration.h:62
pcl::NormalDistributionsTransform2D::setOptimizationStepSize
virtual void setOptimizationStepSize(const Eigen::Vector3d &lambda)
NDT Newton optimisation step size parameter.
Definition: ndt_2d.h:122
pcl::PointIndices::Ptr
boost::shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
pcl::Registration< PointSource, PointTarget >::reg_name_
std::string reg_name_
The registration method name.
Definition: registration.h:482
pcl::NormalDistributionsTransform2D::~NormalDistributionsTransform2D
virtual ~NormalDistributionsTransform2D()
Empty destructor.
Definition: ndt_2d.h:85
pcl::PointIndices::ConstPtr
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
Definition: PointIndices.h:23
pcl::NormalDistributionsTransform2D::grid_extent_
Eigen::Vector2f grid_extent_
Definition: ndt_2d.h:146