Interface class for the ICP pipeline. More...

#include <algorithms.hpp>

Inheritance diagram for cl_algo::ICP::ICP< CR, CW >:

Collaboration diagram for cl_algo::ICP::ICP< CR, CW >:

Public Member Functions
	ICP (clutils::CLEnv &_env, clutils::CLEnvInfo< 1 > _infoRBC, clutils::CLEnvInfo< 1 > _infoICP)
	Configures an OpenCL environment as specified by `_info`. More...

void	init (unsigned int _m, unsigned int _nr, float _a=1e2f, float _c=1e-6f, unsigned int _max_iterations=40, double _angle_threshold=0.001, double _translation_threshold=0.01, Staging _staging=Staging::IO)
	Configures kernel execution parameters. More...

void	buildRBC (const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Builds the RBC data structure. More...

void	run ()
	Executes the necessary kernels. More...

unsigned int	getMaxIterations ()
	Gets the maximum number of iterations. More...

void	setMaxIterations (unsigned int _max_iterations)
	Sets the maximum number of iterations. More...

double	getAngleThreshold ()
	Gets the threshold for the change in angle. More...

void	setAngleThreshold (double _angle_threshold)
	Sets the threshold for the change in angle. More...

double	getTranslationThreshold ()
	Gets the threshold for the change in translation. More...

void	setTranslationThreshold (double _translation_threshold)
	Sets the threshold for the change in translation. More...

template<typename period >
double	run (clutils::GPUTimer< period > &timer)
	Executes the necessary kernels. More...

Public Attributes
unsigned int	k
	Current iteration number. More...

Protected Member Functions
bool	check ()
	Performs the convergence check. More...

Protected Attributes
unsigned int	max_iterations
	Maximum number of iterations that a registration process is allowed to perform. More...

double	angle_threshold
	Threshold for the change in angle (in degrees) in the transformation. More...

double	translation_threshold
	Threshold for the change in translation (in mm) in the transformation. More...

Detailed Description

template<ICPStepConfigT CR, ICPStepConfigW CW>
class cl_algo::ICP::ICP< CR, CW >

Interface class for the ICP pipeline.

Performs the ICP algorithm and estimates the transformation between two point clouds.

Note: The implemented algorithms are described by Horn in Closed-Form Solution of Absolute Orientation Using Unit Quaternions and by Arun et al. in Least-Squares Fitting of Two 3-D Point Sets.; The class creates its own buffers. If you would like to provide your own buffers, call get to get references to the placeholders within the class and assign them to your buffers. You will have to do this strictly before the call to init. You can also call get (after the call to init) to get a reference to a buffer within the class and assign it to another kernel class instance further down in your task pipeline.

The following input/output OpenCL memory objects are created by a ICP<ICPStepConfigT::POWER_METHOD, ICPStepConfigW::WEIGHTED> instance:

Name	Type	Placement	I/O	Use	Properties	Size
H_IN_F	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(m*sizeof\ (cl\_float8)\)
H_IN_M	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(m*sizeof\ (cl\_float8)\)
H_IO_T	Buffer	Host	IO	Staging	CL_MEM_READ_WRITE	\(2*sizeof\ (cl\_float4)\)
D_IN_F	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(m*sizeof\ (cl\_float8)\)
D_IN_M	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(m*sizeof\ (cl\_float8)\)
D_IO_T	Buffer	Device	IO	Processing	CL_MEM_READ_WRITE	\(2*sizeof\ (cl\_float4)\)

Template Parameters

CR	configures the class with different methods of rotation computation.
CW	configures the class for performing either regular or weighted computation.

Constructor & Destructor Documentation

template<ICPStepConfigT CR, ICPStepConfigW CW>

cl_algo::ICP::ICP< CR, CW >::ICP	(	clutils::CLEnv &	_env,
		clutils::CLEnvInfo< 1 >	_infoRBC,
		clutils::CLEnvInfo< 1 >	_infoICP
	)

Configures an OpenCL environment as specified by _info.

Parameters

[in]	_env	opencl environment.
[in]	_infoRBC	opencl configuration for the `RBC` classes. It specifies the context, queue, etc, to be used.
[in]	_infoICP	opencl configuration for the `ICP` classes. It specifies the context, queue, etc, to be used.

Member Function Documentation

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::buildRBC	(	const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Builds the RBC data structure.

Note: Call buildRBC after the D_IN_F buffer has been written, and before any calls to run (for each registration).

template<ICPStepConfigT CR, ICPStepConfigW CW>

bool cl_algo::ICP::ICP< CR, CW >::check ( )

inlineprotected

Performs the convergence check.

Checks the change in the transformation and the number of iterations.

Note: Call buildRBC after the D_IN_F buffer has been written, and before any calls to run (for each registration).

Returns: false for convergence, true otherwise.

template<ICPStepConfigT CR, ICPStepConfigW CW>

double cl_algo::ICP::ICP< CR, CW >::getAngleThreshold ( )

Gets the threshold for the change in angle.

Returns: The threshold for the change in angle (in degrees).

template<ICPStepConfigT CR, ICPStepConfigW CW>

unsigned int cl_algo::ICP::ICP< CR, CW >::getMaxIterations ( )

Gets the maximum number of iterations.

Returns: The maximum number of iterations.

template<ICPStepConfigT CR, ICPStepConfigW CW>

double cl_algo::ICP::ICP< CR, CW >::getTranslationThreshold ( )

Gets the threshold for the change in translation.

Returns: The threshold for the change in translation (in mm).

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::init	(	unsigned int	_m,
		unsigned int	_nr,
		float	_a = `1e2f`,
		float	_c = `1e-6f`,
		unsigned int	_max_iterations = `40`,
		double	_angle_threshold = `0.001`,
		double	_translation_threshold = `0.01`,
		Staging	_staging = `Staging::IO`
	)

Configures kernel execution parameters.

Sets up memory objects as necessary, and defines the kernel workspaces.

Note: If you have assigned a memory object to one member variable of the class before the call to init, then that memory will be maintained. Otherwise, a new memory object will be created.

Parameters

[in]	_m	number of points in the sets.
[in]	_nr	number of fixed set representatives.
[in]	_a	factor scaling the results of the distance calculations for the geometric \( x_g \) and photometric \( x_p \) dimensions of the \( x\epsilon\mathbb{R}^8 \) points. That is, \( \\|x-x'\\|_2^2= f_g(a)\\|x_g-x'_g\\|_2^2+f_p(a)\\|x_p-x'_p\\|_2^2 \). For more info, look at `euclideanSquaredMetric8` in kernels/rbc_kernels.cl.
[in]	_c	scaling factor for dealing with floating point arithmetic issues when computing the `S` matrix.
[in]	_max_iterations	maximum number of iterations that a registration is allowed to perform.
[in]	_angle_threshold	threshold for the change in angle (in degrees) in the transformation.
[in]	_translation_threshold	threshold for the change in translation (in mm) in the transformation.
[in]	_staging	flag to indicate whether or not to instantiate the staging buffers.

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::run ( )

Executes the necessary kernels.

Executes the iterative ICP algorithm and estimates the relative transformation between the two associated point clouds.

Note: The function call is blocking, so it doesn't need to offer an event. It also doesn't accept events, since it's meant to be called after buildRBC which is the one that will wait on the events.

template<ICPStepConfigT CR, ICPStepConfigW CW>

template<typename period >

double cl_algo::ICP::ICP< CR, CW >::run ( clutils::GPUTimer< period > & timer )

inline

Executes the necessary kernels.

This run instance is used for profiling.

Parameters

[in] timer GPUTimer that does the profiling of the kernel executions.

Returns: Τhe total execution time measured by the timer.

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::setAngleThreshold ( double _angle_threshold )

Sets the threshold for the change in angle.

Updates the parameter for the threshold for the change in angle (in degrees) in the transformation.

Parameters

[in] _angle_threshold threshold for the change in angle (in degrees).

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::setMaxIterations ( unsigned int _max_iterations )

Sets the maximum number of iterations.

Updates the parameter for the maximum number of iterations.

Parameters

[in] _max_iterations maximum number of iterations.

template<ICPStepConfigT CR, ICPStepConfigW CW>

void cl_algo::ICP::ICP< CR, CW >::setTranslationThreshold ( double _translation_threshold )

Sets the threshold for the change in translation.

Updates the parameter for the threshold for the change in translation (in mm) in the transformation.

Parameters

[in] _translation_threshold threshold for the change in translation (in mm).

Member Data Documentation

template<ICPStepConfigT CR, ICPStepConfigW CW>

double cl_algo::ICP::ICP< CR, CW >::angle_threshold

protected

Threshold for the change in angle (in degrees) in the transformation.

template<ICPStepConfigT CR, ICPStepConfigW CW>

unsigned int cl_algo::ICP::ICP< CR, CW >::k

Current iteration number.

Gets reset in buildRBC with every registration.

template<ICPStepConfigT CR, ICPStepConfigW CW>

unsigned int cl_algo::ICP::ICP< CR, CW >::max_iterations

protected

Maximum number of iterations that a registration process is allowed to perform.

template<ICPStepConfigT CR, ICPStepConfigW CW>

double cl_algo::ICP::ICP< CR, CW >::translation_threshold

protected

Threshold for the change in translation (in mm) in the transformation.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<ICPStepConfigT CR, ICPStepConfigW CW> class cl_algo::ICP::ICP< CR, CW >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<ICPStepConfigT CR, ICPStepConfigW CW>
class cl_algo::ICP::ICP< CR, CW >