目录
三、pcl IterativeClosestPoint 完成demo
一、pcl中 点云配准算法
PCL 库中 ICP 的接口及其变种:
- 点到点:pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
- 点到面:pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >
- 面到面:pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >
其中,IterativeClosestPoint 模板类是 ICP 算法的一个基本实现,其优化求解方法基于 Singular Value Decomposition (SVD),算法迭代结束条件包括:
- 最大迭代次数:Number of iterations has reached the maximum user imposed number of iterations (via setMaximumIterations)
- 两次变换矩阵之间的差值:The epsilon (difference) between the previous transformation and the current estimated transformation is smaller than an user imposed value (via setTransformationEpsilon)
- 均方误差:The sum of Euclidean squared errors is smaller than a user defined threshold (via setEucl