点云 ICP学习-IterativeClosestPoint

目录

一、pcl中 点云配准算法 

 二、关于svd原理求解部分

三、pcl IterativeClosestPoint 完成demo

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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