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fix: add max_iterations param of align in pybind interface #52

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merged 1 commit into from
May 18, 2024
Merged

fix: add max_iterations param of align in pybind interface #52

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1 change: 1 addition & 0 deletions include/small_gicp/registration/registration_helper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ struct RegistrationSetting {
double rotation_eps = 0.1 * M_PI / 180.0; ///< Rotation tolerance for convergence check [rad]
double translation_eps = 1e-3; ///< Translation tolerance for convergence check
int num_threads = 4; ///< Number of threads
int max_iterations = 20; ///< Maximum number of iterations
};

/// @brief Align point clouds
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14 changes: 10 additions & 4 deletions src/python/align.cpp
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Expand Up @@ -31,7 +31,8 @@ void define_align(py::module& m) {
double voxel_resolution,
double downsampling_resolution,
double max_correspondence_distance,
int num_threads) {
int num_threads,
int max_iterations) {
if (target_points.cols() != 3 && target_points.cols() != 4) {
std::cerr << "target_points must be Nx3 or Nx4" << std::endl;
return RegistrationResult(Eigen::Isometry3d::Identity());
Expand Down Expand Up @@ -92,6 +93,7 @@ void define_align(py::module& m) {
py::arg("downsampling_resolution") = 0.25,
py::arg("max_correspondence_distance") = 1.0,
py::arg("num_threads") = 1,
py::arg("max_iterations") = 20,
R"pbdoc(
Align two point clouds using various ICP-like algorithms.

Expand All @@ -113,7 +115,8 @@ void define_align(py::module& m) {
Maximum distance for matching points between point clouds.
num_threads : int = 1
Number of threads to use for parallel processing.

max_iterations : int = 20
Maximum number of iterations for the optimization algorithm.
Returns
-------
RegistrationResult
Expand All @@ -130,7 +133,8 @@ void define_align(py::module& m) {
const Eigen::Matrix4d& init_T_target_source,
const std::string& registration_type,
double max_correspondence_distance,
int num_threads) {
int num_threads,
int max_iterations) {
RegistrationSetting setting;
if (registration_type == "ICP") {
setting.type = RegistrationSetting::ICP;
Expand All @@ -157,6 +161,7 @@ void define_align(py::module& m) {
py::arg("registration_type") = "GICP",
py::arg("max_correspondence_distance") = 1.0,
py::arg("num_threads") = 1,
py::arg("max_iterations") = 20,
R"pbdoc(
Align two point clouds using specified ICP-like algorithms, utilizing point cloud and KD-tree inputs.

Expand All @@ -176,7 +181,8 @@ void define_align(py::module& m) {
Maximum distance for corresponding point pairs.
num_threads : int = 1
Number of threads to use for computation.

max_iterations : int = 20
Maximum number of iterations for the optimization algorithm.
Returns
-------
RegistrationResult
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4 changes: 4 additions & 0 deletions src/small_gicp/registration/registration_helper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,7 @@ align(const PointCloud& target, const PointCloud& source, const KdTree<PointClou
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
registration.optimizer.max_iterations = setting.max_iterations;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::PLANE_ICP: {
Expand All @@ -98,6 +99,7 @@ align(const PointCloud& target, const PointCloud& source, const KdTree<PointClou
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
registration.optimizer.max_iterations = setting.max_iterations;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::GICP: {
Expand All @@ -106,6 +108,7 @@ align(const PointCloud& target, const PointCloud& source, const KdTree<PointClou
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
registration.optimizer.max_iterations = setting.max_iterations;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::VGICP: {
Expand All @@ -125,6 +128,7 @@ RegistrationResult align(const GaussianVoxelMap& target, const PointCloud& sourc
registration.reduction.num_threads = setting.num_threads;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
registration.optimizer.max_iterations = setting.max_iterations;
return registration.align(target, source, target, init_T);
}

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