PCL點雲庫的傳統ICP代碼分析
ICP算法的介紹
ICP(Iterative Closest Point),即最近點迭代算法,是最爲經典的數據配准算法。其特徵在於,通過求取源點雲和目標點雲之間的對應點對,基於對應點對構造旋轉平移矩陣,並利用所求矩陣,將源點雲變換到目標點雲的座標系下,估計變換後源點雲與目標點雲的誤差函數,若誤差函數值大於閥值,則迭代進行上述運算直到滿足給定的誤差要求.
ICP算法採用最小二乘估計計算變換矩陣,原理簡單且具有較好的精度,但是由於採用了迭代計算,導致算法計算速度較慢,而且採用ICP進行配準計算時,其對待配準點雲的初始位置有一定要求,若所選初始位置不合理,則會導致算法陷入局部最優。。
PCL裏面的源碼分析
我接下來對pcl裏面的源碼瞭解了下,大體有些地方做了備註,但是未必萬全正確。
- 首先要介紹的是主體的ICP啓動程序:
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out (new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the CloudIn data
cloud_in->width = 5;
cloud_in->height = 1;
cloud_in->is_dense = false;
cloud_in->points.resize (cloud_in->width * cloud_in->height);
for (size_t i = 0; i < cloud_in->points.size (); ++i)
{
cloud_in->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_in->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_in->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
std::cout << "Saved " << cloud_in->points.size () << " data points to input:"
<< std::endl;
for (size_t i = 0; i < cloud_in->points.size (); ++i) std::cout << " " <<
cloud_in->points[i].x << " " << cloud_in->points[i].y << " " <<
cloud_in->points[i].z << std::endl;
*cloud_out = *cloud_in;
std::cout << "size:" << cloud_out->points.size() << std::endl;
for (size_t i = 0; i < cloud_in->points.size (); ++i)
cloud_out->points[i].x = cloud_in->points[i].x + 0.7f;
std::cout << "Transformed " << cloud_in->points.size () << " data points:"
<< std::endl;
for (size_t i = 0; i < cloud_out->points.size (); ++i)
std::cout << " " << cloud_out->points[i].x << " " <<
cloud_out->points[i].y << " " << cloud_out->points[i].z << std::endl;
pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
icp.setInputCloud(cloud_in);
icp.setInputTarget(cloud_out);
pcl::PointCloud<pcl::PointXYZ> Final;
icp.align(Final);
std::cout << "has converged:" << icp.hasConverged() << " score: " <<
icp.getFitnessScore() << std::endl;
std::cout << icp.getFinalTransformation() << std::endl;
return (0);
}
其中主要的功能就是在align()這個函數中實現的。這個函數的大體位置是
registration/include/pcl/registraion/impl/registration.hpp這裏。代碼接下如下
- align()函數
//函數裏調用這個真正的函數
template <typename PointSource, typename PointTarget, typename Scalar> inline void
pcl::Registration<PointSource, PointTarget, Scalar>::align (PointCloudSource &output, const Matrix4& guess)
{
//分配input點雲的下標,函數在common/include/pcl/impl/pcl_base.hpp
if (!initCompute ())
return;
// Resize the output dataset
//如果output的下標數量和input不一樣,那就成爲一樣的
if (output.points.size () != indices_->size ())
output.points.resize (indices_->size ());
// Copy the header
output.header = input_->header;
// Check if the output will be computed for all points or only a subset
//這裏沒搞懂,感覺肯定是相等的呀?
if (indices_->size () != input_->points.size ())
{
output.width = static_cast<uint32_t> (indices_->size ());
output.height = 1;
}
else
{
output.width = static_cast<uint32_t> (input_->width);
output.height = input_->height;
}
output.is_dense = input_->is_dense;
// Copy the point data to output
//這裏的output就是final,也就是最後由input轉化過來的點雲,不是匹配的目標點雲
//因爲沒有被初試化的,所以直接拷貝點雲
for (size_t i = 0; i < indices_->size (); ++i)
output.points[i] = input_->points[(*indices_)[i]];
// Set the internal point representation of choice unless otherwise noted
if (point_representation_ && !force_no_recompute_)
tree_->setPointRepresentation (point_representation_);
// Perform the actual transformation computation
converged_ = false;
final_transformation_ = transformation_ = previous_transformation_ = Matrix4::Identity ();
// Right before we estimate the transformation, we set all the point.data[3] values to 1 to aid the rigid
// transformation
//其實因爲座標是齊次座標,所以第四個元素是1,前面三個元素是x,y,z
for (size_t i = 0; i < indices_->size (); ++i)
output.points[i].data[3] = 1.0;
//實現的icp.hpp裏面,這個函數是重載函數,所以要找對
//變種icp的更改基本都在這裏,改動h,hpp文件,以及改動主要的computeTransformation函數,前面的都是預備工作,關係不大
computeTransformation (output, guess);
//這個函數僅僅是返回一個布爾值true
deinitCompute ();
}
在這個align裏面的最重要的函數就是computeTransformation (output, guess)。而這個函數就在registration/include/pcl/registraion/icp.hpp這裏。
- computeTransformation()函數
#ifndef PCL_REGISTRATION_IMPL_ICP_HPP_
#define PCL_REGISTRATION_IMPL_ICP_HPP_
#include <pcl/registration/boost.h>
#include <pcl/correspondence.h>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> void
pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformCloud (
const PointCloudSource &input,
PointCloudSource &output,
const Matrix4 &transform)
{
//這裏的input和output在第一次的時候還是相同的值
//但是在第二次迭代的時候纔是正常的步驟
Eigen::Vector4f pt (0.0f, 0.0f, 0.0f, 1.0f), pt_t;
Eigen::Matrix4f tr = transform.template cast<float> ();
// XYZ is ALWAYS present due to the templatization, so we only have to check for normals
if (source_has_normals_)
{
Eigen::Vector3f nt, nt_t;
Eigen::Matrix3f rot = tr.block<3, 3> (0, 0);
for (size_t i = 0; i < input.size (); ++i)
{
將input的數據填充到pt裏
const uint8_t* data_in = reinterpret_cast<const uint8_t*> (&input[i]);
uint8_t* data_out = reinterpret_cast<uint8_t*> (&output[i]);
memcpy (&pt[0], data_in + x_idx_offset_, sizeof (float));
memcpy (&pt[1], data_in + y_idx_offset_, sizeof (float));
memcpy (&pt[2], data_in + z_idx_offset_, sizeof (float));
if (!pcl_isfinite (pt[0]) || !pcl_isfinite (pt[1]) || !pcl_isfinite (pt[2]))
continue;
//這裏就是轉換的公式,是齊次的轉換
pt_t = tr * pt;
//把pt_t的值給data_out
memcpy (data_out + x_idx_offset_, &pt_t[0], sizeof (float));
memcpy (data_out + y_idx_offset_, &pt_t[1], sizeof (float));
memcpy (data_out + z_idx_offset_, &pt_t[2], sizeof (float));
memcpy (&nt[0], data_in + nx_idx_offset_, sizeof (float));
memcpy (&nt[1], data_in + ny_idx_offset_, sizeof (float));
memcpy (&nt[2], data_in + nz_idx_offset_, sizeof (float));
if (!pcl_isfinite (nt[0]) || !pcl_isfinite (nt[1]) || !pcl_isfinite (nt[2]))
continue;
//這裏是非齊次的轉換
nt_t = rot * nt;
//把轉換後的nt_t給data_out
memcpy (data_out + nx_idx_offset_, &nt_t[0], sizeof (float));
memcpy (data_out + ny_idx_offset_, &nt_t[1], sizeof (float));
memcpy (data_out + nz_idx_offset_, &nt_t[2], sizeof (float));
}
}
else
{
for (size_t i = 0; i < input.size (); ++i)
{
const uint8_t* data_in = reinterpret_cast<const uint8_t*> (&input[i]);
uint8_t* data_out = reinterpret_cast<uint8_t*> (&output[i]);
memcpy (&pt[0], data_in + x_idx_offset_, sizeof (float));
memcpy (&pt[1], data_in + y_idx_offset_, sizeof (float));
memcpy (&pt[2], data_in + z_idx_offset_, sizeof (float));
if (!pcl_isfinite (pt[0]) || !pcl_isfinite (pt[1]) || !pcl_isfinite (pt[2]))
continue;
//這裏是齊次的轉換
pt_t = tr * pt;
memcpy (data_out + x_idx_offset_, &pt_t[0], sizeof (float));
memcpy (data_out + y_idx_offset_, &pt_t[1], sizeof (float));
memcpy (data_out + z_idx_offset_, &pt_t[2], sizeof (float));
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> void
pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::computeTransformation (
PointCloudSource &output, const Matrix4 &guess)
{
// Point cloud containing the correspondences of each point in <input, indices>
//input_transformed是input被轉換一次之後的點雲
PointCloudSourcePtr input_transformed (new PointCloudSource);
nr_iterations_ = 0;
converged_ = false;
// Initialise final transformation to the guessed one
//都變成單位矩陣
final_transformation_ = guess;
// If the guessed transformation is non identity
if (guess != Matrix4::Identity ())
{
input_transformed->resize (input_->size ());
// Apply guessed transformation prior to search for neighbours
//在icp.hpp裏48行
transformCloud (*input_, *input_transformed, guess);
}
else
//否則就是直接複製,其實這裏還沒有開始轉換,因爲input_transformed還是原來的input
*input_transformed = *input_;
transformation_ = Matrix4::Identity ();
// Make blobs if necessary
//我也不知道這個步驟的含義,要製造異常點嗎?
determineRequiredBlobData ();
PCLPointCloud2::Ptr target_blob (new PCLPointCloud2);
if (need_target_blob_)
//轉換成二進制的點雲
pcl::toPCLPointCloud2 (*target_, *target_blob);
// Pass in the default target for the Correspondence Estimation/Rejection code
correspondence_estimation_->setInputTarget (target_);
if (correspondence_estimation_->requiresTargetNormals ())
correspondence_estimation_->setTargetNormals (target_blob);
// Correspondence Rejectors need a binary blob
for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
{
registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
if (rej->requiresTargetPoints ())
rej->setTargetPoints (target_blob);
if (rej->requiresTargetNormals () && target_has_normals_)
rej->setTargetNormals (target_blob);
}
//MSE是均方誤差,這裏是設置迭代的相關參數
convergence_criteria_->setMaximumIterations (max_iterations_);
convergence_criteria_->setRelativeMSE (euclidean_fitness_epsilon_);
convergence_criteria_->setTranslationThreshold (transformation_epsilon_);
if (transformation_rotation_epsilon_ > 0)
convergence_criteria_->setRotationThreshold (transformation_rotation_epsilon_);
else
convergence_criteria_->setRotationThreshold (1.0 - transformation_epsilon_);
// Repeat until convergence
//該方法的主體是一個do-while循環,查找最近點,剔除錯誤的對應點,收斂原則都在這裏
//correspondence_estimation_ 、correspondence_rejectors_ 和 convergence_criteria_
//這三個變量的作用分別代表查找最近點,剔除錯誤的對應點,收斂準則
//因爲是do-while循環,因此收斂準則的作用是跳出循環
//transformation_estimation_是求解ICP的具體算法
do
{
// Get blob data if needed
PCLPointCloud2::Ptr input_transformed_blob;
if (need_source_blob_)
{
input_transformed_blob.reset (new PCLPointCloud2);
toPCLPointCloud2 (*input_transformed, *input_transformed_blob);
}
// Save the previously estimated transformation
//第一步迭代之前,到這個步驟之前一直是單位矩陣
previous_transformation_ = transformation_;
// Set the source each iteration, to ensure the dirty flag is updated
correspondence_estimation_->setInputSource (input_transformed);
if (correspondence_estimation_->requiresSourceNormals ())
correspondence_estimation_->setSourceNormals (input_transformed_blob);
// Estimate correspondences
//尋找迭代點雲的對應點
//use_reciprocal_correspondence_是相反的對應關係
if (use_reciprocal_correspondence_)
//determineReciprocalCorrespondences()在correspondence_estimation.hpp文件裏,corr_dist_threshold_是最大距離
correspondence_estimation_->determineReciprocalCorrespondences (*correspondences_, corr_dist_threshold_);
else
correspondence_estimation_->determineCorrespondences (*correspondences_, corr_dist_threshold_);
//if (correspondence_rejectors_.empty ())
//把已經有對應關係的correspondences_初始化temp_correspondences,當然這是一個動態的暫時內存
CorrespondencesPtr temp_correspondences (new Correspondences (*correspondences_));
for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
{
registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
PCL_DEBUG ("Applying a correspondence rejector method: %s.\n", rej->getClassName ().c_str ());
if (rej->requiresSourcePoints ())
rej->setSourcePoints (input_transformed_blob);
if (rej->requiresSourceNormals () && source_has_normals_)
rej->setSourceNormals (input_transformed_blob);
rej->setInputCorrespondences (temp_correspondences);
rej->getCorrespondences (*correspondences_);
// Modify input for the next iteration
if (i < correspondence_rejectors_.size () - 1)
*temp_correspondences = *correspondences_;
}
size_t cnt = correspondences_->size ();
// Check whether we have enough correspondences
if (static_cast<int> (cnt) < min_number_correspondences_)
{
PCL_ERROR ("[pcl::%s::computeTransformation] Not enough correspondences found. Relax your threshold parameters.\n", getClassName ().c_str ());
convergence_criteria_->setConvergenceState(pcl::registration::DefaultConvergenceCriteria<Scalar>::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES);
converged_ = false;
break;
}
//在前面的尋找一致性估計後(尋找對應點後),接下來的步驟又是主要的函數步驟,transformation_estimation_是求解ICP的具體算法
// Estimate the transform
//查看transformation_estimation_svd.hpp中的TransformationEstimationSVD類的estimateRigidTransformation 方法
//這裏就是target_是最終的目標點雲,在迭代過程中不變,但是input_transformed總是會不停的更新,直到和目標重合
transformation_estimation_->estimateRigidTransformation (*input_transformed, *target_, *correspondences_, transformation_);
// Tranform the data
transformCloud (*input_transformed, *input_transformed, transformation_);
// Obtain the final transformation
final_transformation_ = transformation_ * final_transformation_;
++nr_iterations_;
// Update the vizualization of icp convergence
//if (update_visualizer_ != 0)
// update_visualizer_(output, source_indices_good, *target_, target_indices_good );
converged_ = static_cast<bool> ((*convergence_criteria_));
}
while (!converged_);
// Transform the input cloud using the final transformation
PCL_DEBUG ("Transformation is:\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n",
final_transformation_ (0, 0), final_transformation_ (0, 1), final_transformation_ (0, 2), final_transformation_ (0, 3),
final_transformation_ (1, 0), final_transformation_ (1, 1), final_transformation_ (1, 2), final_transformation_ (1, 3),
final_transformation_ (2, 0), final_transformation_ (2, 1), final_transformation_ (2, 2), final_transformation_ (2, 3),
final_transformation_ (3, 0), final_transformation_ (3, 1), final_transformation_ (3, 2), final_transformation_ (3, 3));
// Copy all the values
output = *input_;
// Transform the XYZ + normals
//先把input_複製過去,然後在將轉換後的點雲疊加上去,至此,算法完成
transformCloud (*input_, output, final_transformation_);
}
template <typename PointSource, typename PointTarget, typename Scalar> void
pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::determineRequiredBlobData ()
{
need_source_blob_ = false;
need_target_blob_ = false;
// Check estimator
//僅僅是檢查而已,requiresSourceNormals函數返回true
// |=是複合的邏輯或
need_source_blob_ |= correspondence_estimation_->requiresSourceNormals ();
need_target_blob_ |= correspondence_estimation_->requiresTargetNormals ();
// Add warnings if necessary
if (correspondence_estimation_->requiresSourceNormals () && !source_has_normals_)
{
PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects source normals, but we can't provide them.\n", getClassName ().c_str ());
}
if (correspondence_estimation_->requiresTargetNormals () && !target_has_normals_)
{
PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects target normals, but we can't provide them.\n", getClassName ().c_str ());
}
// Check rejectors
for (size_t i = 0; i < correspondence_rejectors_.size (); i++)
{
registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
need_source_blob_ |= rej->requiresSourcePoints ();
need_source_blob_ |= rej->requiresSourceNormals ();
need_target_blob_ |= rej->requiresTargetPoints ();
need_target_blob_ |= rej->requiresTargetNormals ();
if (rej->requiresSourceNormals () && !source_has_normals_)
{
PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects source normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
}
if (rej->requiresTargetNormals () && !target_has_normals_)
{
PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects target normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> void
pcl::IterativeClosestPointWithNormals<PointSource, PointTarget, Scalar>::transformCloud (
const PointCloudSource &input,
PointCloudSource &output,
const Matrix4 &transform)
{
pcl::transformPointCloudWithNormals (input, output, transform);
}
#endif /* PCL_REGISTRATION_IMPL_ICP_HPP_ */
當初的代碼註釋,但是也是依照個人理解初次寫,如果有問題,還請見諒!