icp::ICPDriver Class Reference

Driver for running ICP to convergence. More...

#include <driver.h>

Classes
struct	ConvergenceState
	The result of running ICPDriver::converge. More...

Public Member Functions
	ICPDriver (std::unique_ptr< ICP > icp)
	Constructs a new ICPDriver using the given ICP method.
ConvergenceState	converge (const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
	Runs ICP to convergence based on the termination conditions set.
void	set_min_iterations (uint64_t min_iterations)
	Sets the minimum number of iterations to run.
void	set_max_iterations (uint64_t max_iterations)
	Sets the maximum number of iterations to run.
void	set_stop_cost (double stop_cost)
	Sets the cost at which to stop ICP.
void	set_relative_cost_tolerance (double relative_cost_tolerance)
	Sets the relative cost tolerance.
void	set_absolute_cost_tolerance (double absolute_cost_tolerance)
	Set the absolute cost tolerance.
void	set_transform_tolerance (double angle_tolerance, double translation_tolerance)
	Set the transform tolerance.
void	set_time_limit (std::chrono::duration< double > time_limit)
	Set the time limit for converge.

Detailed Description

Driver for running ICP to convergence.

Definition at line 12 of file driver.h.

Constructor & Destructor Documentation

ICPDriver()

icp::ICPDriver::ICPDriver

(

std::unique_ptr< ICP >

icp

)

Constructs a new ICPDriver using the given ICP method.

Parameters

icp	The ICP method to use.

Definition at line 5 of file driver.cpp.

Member Function Documentation

converge()

ICPDriver::ConvergenceState icp::ICPDriver::converge	(	const std::vector< Vector > &	a,
		const std::vector< Vector > &	b,
		RBTransform	t
	)

Runs ICP to convergence based on the termination conditions set.

If no conditions are set, ICP will run indefinitely. This is rarely desirable.

Parameters

a	The source point cloud.
b	The destination point cloud.
t	The initial guess for the transformation.

Returns

ConvergenceState

Definition at line 9 of file driver.cpp.

set_absolute_cost_tolerance()

void icp::ICPDriver::set_absolute_cost_tolerance

(

double

absolute_cost_tolerance

)

Set the absolute cost tolerance.

converge will return when the cost changes by less than this amount, i.e. when |current_cost - prev_cost| < absolute_cost_tolerance.

Parameters

absolute_cost_tolerance

The absolute cost tolerance.

Definition at line 106 of file driver.cpp.

set_max_iterations()

void icp::ICPDriver::set_max_iterations

(

uint64_t

max_iterations

)

Sets the maximum number of iterations to run.

Parameters

max_iterations

The maximum number of iterations to run.

Definition at line 93 of file driver.cpp.

set_min_iterations()

void icp::ICPDriver::set_min_iterations

(

uint64_t

min_iterations

)

Sets the minimum number of iterations to run.

This number of iterations will always be performed.

Parameters

min_iterations

The minimum number of iterations to run.

Definition at line 88 of file driver.cpp.

set_relative_cost_tolerance()

void icp::ICPDriver::set_relative_cost_tolerance

(

double

relative_cost_tolerance

)

Sets the relative cost tolerance.

converge will return when the cost changes by less than this fraction of the current cost, i.e. when |current_cost - prev_cost| / < relative_cost_tolerance.

Parameters

relative_cost_tolerance

The relative cost tolerance.

Definition at line 102 of file driver.cpp.

set_stop_cost()

void icp::ICPDriver::set_stop_cost

(

double

stop_cost

)

Sets the cost at which to stop ICP.

converge will return when a cost below stop_cost is achieved.

Parameters

stop_cost

The cost at which to stop ICP.

Definition at line 98 of file driver.cpp.

set_time_limit()

void icp::ICPDriver::set_time_limit

(

std::chrono::duration< double >

time_limit

)

Set the time limit for converge.

Note that coverge may take slightly longer than this time (up to 1 iteration time) to return.

Parameters

time_limit

The time limit.

Definition at line 115 of file driver.cpp.

set_transform_tolerance()

void icp::ICPDriver::set_transform_tolerance	(	double	angle_tolerance,
		double	translation_tolerance
	)

Set the transform tolerance.

converge will return when both the angle and translation tolerances are met.

Parameters

angle_tolerance	The angle tolerance in radians. The tolerance is met when the angle of rotation between the current and previous transformation around the axis of rotation is less than angle_tolerance.
translation_tolerance	The translation tolerance in scan units. The tolerance is met when the change in translation is less than translation_tolerance.

Definition at line 110 of file driver.cpp.

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

• include/icp/driver.h
• lib/icp/driver.cpp