点云配准 / Point Cloud Registration

Typedefs
using	toolbox::pcl::ransac_registration = ransac_registration_t< float >
using	toolbox::pcl::prosac_registration = prosac_registration_t< float >
using	toolbox::pcl::four_pcs_registration = four_pcs_registration_t< float >
using	toolbox::pcl::super_four_pcs_registration = super_four_pcs_registration_t< float >
using	toolbox::pcl::coarse_registration_result = registration_result_t< float >
using	toolbox::pcl::ransac_registration_d = ransac_registration_t< double >
using	toolbox::pcl::prosac_registration_d = prosac_registration_t< double >
using	toolbox::pcl::four_pcs_registration_d = four_pcs_registration_t< double >
using	toolbox::pcl::super_four_pcs_registration_d = super_four_pcs_registration_t< double >
using	toolbox::pcl::coarse_registration_result_d = registration_result_t< double >
using	toolbox::pcl::point_to_point_icp = point_to_point_icp_t< float >
using	toolbox::pcl::point_to_plane_icp = point_to_plane_icp_t< float >
using	toolbox::pcl::generalized_icp = generalized_icp_t< float >
using	toolbox::pcl::aa_icp = aa_icp_t< float >
using	toolbox::pcl::ndt = ndt_t< float >
using	toolbox::pcl::fine_registration_result = fine_registration_result_t< float >
using	toolbox::pcl::point_to_point_icp_d = point_to_point_icp_t< double >
using	toolbox::pcl::point_to_plane_icp_d = point_to_plane_icp_t< double >
using	toolbox::pcl::generalized_icp_d = generalized_icp_t< double >
using	toolbox::pcl::aa_icp_d = aa_icp_t< double >
using	toolbox::pcl::ndt_d = ndt_t< double >
using	toolbox::pcl::fine_registration_result_d = fine_registration_result_t< double >

Functions
template<typename DataType >
Eigen::Matrix< DataType, 4, 4 >	toolbox::pcl::complete_registration (const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &source, const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &target, bool use_coarse=true, const std::string &fine_algorithm="p2p")
	配准算法选择指南 / Registration algorithm selection guide

Detailed Description

Typedef Documentation

aa_icp

using toolbox::pcl::aa_icp = typedef aa_icp_t<float>

aa_icp_d

using toolbox::pcl::aa_icp_d = typedef aa_icp_t<double>

coarse_registration_result

using toolbox::pcl::coarse_registration_result = typedef registration_result_t<float>

coarse_registration_result_d

using toolbox::pcl::coarse_registration_result_d = typedef registration_result_t<double>

fine_registration_result

using toolbox::pcl::fine_registration_result = typedef fine_registration_result_t<float>

fine_registration_result_d

using toolbox::pcl::fine_registration_result_d = typedef fine_registration_result_t<double>

four_pcs_registration

using toolbox::pcl::four_pcs_registration = typedef four_pcs_registration_t<float>

four_pcs_registration_d

using toolbox::pcl::four_pcs_registration_d = typedef four_pcs_registration_t<double>

generalized_icp

using toolbox::pcl::generalized_icp = typedef generalized_icp_t<float>

generalized_icp_d

using toolbox::pcl::generalized_icp_d = typedef generalized_icp_t<double>

ndt

using toolbox::pcl::ndt = typedef ndt_t<float>

ndt_d

using toolbox::pcl::ndt_d = typedef ndt_t<double>

point_to_plane_icp

using toolbox::pcl::point_to_plane_icp = typedef point_to_plane_icp_t<float>

point_to_plane_icp_d

using toolbox::pcl::point_to_plane_icp_d = typedef point_to_plane_icp_t<double>

point_to_point_icp

using toolbox::pcl::point_to_point_icp = typedef point_to_point_icp_t<float>

point_to_point_icp_d

using toolbox::pcl::point_to_point_icp_d = typedef point_to_point_icp_t<double>

prosac_registration

using toolbox::pcl::prosac_registration = typedef prosac_registration_t<float>

prosac_registration_d

using toolbox::pcl::prosac_registration_d = typedef prosac_registration_t<double>

ransac_registration

using toolbox::pcl::ransac_registration = typedef ransac_registration_t<float>

ransac_registration_d

using toolbox::pcl::ransac_registration_d = typedef ransac_registration_t<double>

super_four_pcs_registration

using toolbox::pcl::super_four_pcs_registration = typedef super_four_pcs_registration_t<float>

super_four_pcs_registration_d

using toolbox::pcl::super_four_pcs_registration_d = typedef super_four_pcs_registration_t<double>

Function Documentation

complete_registration()

template<typename DataType >

Eigen::Matrix< DataType, 4, 4 > toolbox::pcl::complete_registration	(	const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &	source,
		const std::shared_ptr< toolbox::types::point_cloud_t< DataType > > &	target,
		bool	use_coarse = true,
		const std::string &	fine_algorithm = "p2p"
	)

配准算法选择指南 / Registration algorithm selection guide

粗配准算法选择 / Coarse Registration Selection:

1. 是否有对应关系 / Whether correspondences are available
   • 有对应关系：使用RANSAC或PROSAC / With correspondences: use RANSAC or PROSAC
     • 质量排序可用：使用PROSAC（更快） / Quality ordering available: use PROSAC (faster)
     • 无质量信息：使用RANSAC / No quality info: use RANSAC
   • 无对应关系：使用4PCS或Super4PCS / Without: use 4PCS or Super4PCS
2. 点云规模 / Point cloud scale
   • 小规模（<10K点）：任意算法 / Small (<10K points): any algorithm
   • 中等规模（10K-100K）：RANSAC或4PCS / Medium (10K-100K): RANSAC or 4PCS
   • 大规模（>100K）：Super4PCS / Large (>100K): Super4PCS

细配准算法选择 / Fine Registration Selection:

1. 点云特征 / Point cloud features
   • 无法线：Point-to-Point ICP 或 NDT / No normals: Point-to-Point ICP or NDT
   • 有法线：Point-to-Plane ICP 或 Generalized ICP / With normals: Point-to-Plane ICP or Generalized ICP
2. 收敛速度要求 / Convergence speed requirements
   • 标准速度：Point-to-Point/Plane ICP / Standard: Point-to-Point/Plane ICP
   • 快速收敛：AA-ICP (Anderson加速) / Fast: AA-ICP (Anderson Accelerated)
3. 鲁棒性需求 / Robustness requirements
   • 标准：Point-to-Point ICP / Standard: Point-to-Point ICP
   • 高鲁棒性：Generalized ICP 或 NDT / High robustness: Generalized ICP or NDT
4. 大规模点云 / Large-scale clouds
   • NDT：基于体素的方法，适合大规模点云 / NDT: Voxel-based, suitable for large clouds

完整配准流程 / Complete registration pipeline

Template Parameters

DataType

数据类型 / Data type

Parameters

source	源点云 / Source cloud
target	目标点云 / Target cloud
use_coarse	是否使用粗配准 / Whether to use coarse registration
fine_algorithm	细配准算法 / Fine registration algorithm

Returns

最终变换矩阵 / Final transformation matrix

// 完整配准流程 / Complete registration pipeline
auto transform = complete_registration(source, target, true, "p2p");
 
// 仅细配准 / Fine registration only
auto transform = complete_registration(source, target, false, "ndt");