Class ICPPointAlign

Defined in File ICPPointAlign.hpp

Class Documentation

class ICPPointAlign

A class to align two Scans with ICP.

Public Functions

ICPPointAlign(SLAMScanPtr model, SLAMScanPtr data)

Construct a new ICPPointAlign object. Data is transformed to match Model.

Parameters:

model – The Model Scan (stays unchanged)
data – The Data Scan (transformed)

Transformd match()

Executes the ICPAlign.

Returns:: Transformd The delta transformation caused by this Method

virtual ~ICPPointAlign() = default

void setMaxMatchDistance(double distance)

void setMaxIterations(int iterations)

void setMaxLeafSize(int maxLeafSize)

void setEpsilon(double epsilon)

void setVerbose(bool verbose)

double getMaxMatchDistance() const

int getMaxIterations() const

int getMaxLeafSize() const

double getEpsilon() const

bool getVerbose() const

Protected Attributes

double m_epsilon

double m_maxDistanceMatch

int m_maxIterations

int m_maxLeafSize

bool m_verbose

SLAMScanPtr m_modelCloud

SLAMScanPtr m_dataCloud

KDTreePtr<Vector3f> m_searchTree