mirror of https://github.com/koide3/small_gicp.git
63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
#ifdef BUILD_WITH_PCL
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#include <small_gicp/benchmark/benchmark_odom.hpp>
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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#include <pcl/registration/gicp.h>
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namespace small_gicp {
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class PCLOnlineOdometryEstimation : public OnlineOdometryEstimation {
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public:
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PCLOnlineOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
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gicp.setCorrespondenceRandomness(params.num_neighbors);
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gicp.setMaxCorrespondenceDistance(params.max_correspondence_distance);
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}
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Eigen::Isometry3d estimate(const PointCloud::Ptr& points) override {
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auto points_pcl = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>();
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points_pcl->resize(points->size());
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for (size_t i = 0; i < points->size(); i++) {
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points_pcl->at(i).getVector4fMap() = points->point(i).template cast<float>();
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}
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Stopwatch sw;
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sw.start();
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if (!target_points) {
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target_points = points_pcl;
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return Eigen::Isometry3d::Identity();
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}
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gicp.setInputTarget(target_points);
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gicp.setInputSource(points_pcl);
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pcl::PointCloud<pcl::PointXYZ> aligned;
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gicp.align(aligned);
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sw.stop();
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reg_times.push(sw.msec());
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T = T * Eigen::Isometry3d(gicp.getFinalTransformation().cast<double>());
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target_points = points_pcl;
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return T;
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}
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void report() override { //
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std::cout << "registration_time_stats=" << reg_times.str() << " [msec/scan] total_throughput=" << total_times.str() << " [msec/scan]" << std::endl;
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}
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private:
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Summarizer reg_times;
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pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> gicp;
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pcl::PointCloud<pcl::PointXYZ>::Ptr target_points;
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Eigen::Isometry3d T;
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};
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static auto pcl_odom_registry = register_odometry("pcl", [](const OdometryEstimationParams& params) { return std::make_shared<PCLOnlineOdometryEstimation>(params); });
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} // namespace small_gicp
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#endif |