#include <general_registration.h>
Public Member Functions | |
| virtual bool | compute () |
| GeneralRegistration () | |
| virtual boost::shared_ptr < pcl::PointCloud< Point > > | getMap () |
| map is not necessarily implemented | |
| virtual boost::shared_ptr < const pcl::PointCloud< Point > > | getMarkers () |
| debug function for marker visualization | |
| virtual bool | getSceneChanged () const |
| virtual Eigen::Matrix4f | getTransformation () const |
| get transformation | |
| virtual void | setInputCloud (const boost::shared_ptr< const pcl::PointCloud< Point > > &cloud) |
| sets preprocessed input cloud | |
| virtual void | setInputDepthImage (const boost::shared_ptr< const cv::Mat > &img) |
| set disparity image | |
| virtual void | setInputImage (const boost::shared_ptr< const cv::Mat > &img) |
| set color image | |
| virtual void | setInputOginalCloud (const boost::shared_ptr< const pcl::PointCloud< Point > > &cloud) |
| sets orginal input cloud | |
| virtual void | setMoved (const bool b) |
| virtual void | setOdometry (const Eigen::Matrix4f &odometry) |
| change transformation matrix (for example if odometry results are known) | |
| virtual void | setTransformation (const Eigen::Matrix4f &mat) |
| virtual | ~GeneralRegistration () |
Protected Member Functions | |
| virtual bool | compute_corrospondences ()=0 |
| virtual bool | compute_features ()=0 |
| virtual bool | compute_transformation ()=0 |
Protected Attributes | |
| boost::shared_ptr< const pcl::PointCloud< Point > > | input_ |
| boost::shared_ptr< const cv::Mat > | input_depth_image_ |
| boost::shared_ptr< const cv::Mat > | input_image_ |
| boost::shared_ptr< const pcl::PointCloud< Point > > | input_org_ |
| bool | moved_ |
| bool | scene_changed_ |
| Eigen::Matrix4f | transformation_ |
Detailed Description
template<typename Point>
class cob_3d_registration::GeneralRegistration< Point >
a general abstract class for registration purpose of 3d pointclouds as input it's espected to provide ...
- the original (dense) pointcloud
- the preprocessed pointcloud
- the color image
- the depth image not all of the input data are necessary to all registration methods if you are in need to spare one or more please refer to the used algorithms result of compute is the success status and the transformation
Definition at line 86 of file general_registration.h.
Constructor & Destructor Documentation
| cob_3d_registration::GeneralRegistration< Point >::GeneralRegistration | ( | ) | [inline] |
Definition at line 89 of file general_registration.h.
| virtual cob_3d_registration::GeneralRegistration< Point >::~GeneralRegistration | ( | ) | [inline, virtual] |
Definition at line 92 of file general_registration.h.
Member Function Documentation
| virtual bool cob_3d_registration::GeneralRegistration< Point >::compute | ( | ) | [inline, virtual] |
compute transformation
- Returns:
- true for success
Reimplemented in cob_3d_registration::Registration_Infobased< Point >.
Definition at line 127 of file general_registration.h.
| virtual bool cob_3d_registration::GeneralRegistration< Point >::compute_corrospondences | ( | ) | [protected, pure virtual] |
| virtual bool cob_3d_registration::GeneralRegistration< Point >::compute_features | ( | ) | [protected, pure virtual] |
Implemented in cob_3d_registration::Registration_Infobased< Point >, cob_3d_registration::Registration_ICP_Features_Extra< Point, FeatureType >, cob_3d_registration::Registration_Corrospondence< Point >, cob_3d_registration::Registration_ICP< Point >, cob_3d_registration::Registration_FastSLAM< Point >, cob_3d_registration::Registration_ICP_Edges< Point >, cob_3d_registration::Registration_ICP_NARF< Point >, cob_3d_registration::Registration_ICP_FPFH< Point >, and cob_3d_registration::Registration_ICP_Moments< Point >.
| virtual bool cob_3d_registration::GeneralRegistration< Point >::compute_transformation | ( | ) | [protected, pure virtual] |
Implemented in cob_3d_registration::Registration_FastSLAM< Point >, cob_3d_registration::Registration_Infobased< Point >, cob_3d_registration::Registration_Corrospondence< Point >, cob_3d_registration::Registration_ICP< Point >, cob_3d_registration::Registration_ICP_Edges< Point >, and cob_3d_registration::Registration_ICP_NARF< Point >.
| virtual boost::shared_ptr<pcl::PointCloud<Point> > cob_3d_registration::GeneralRegistration< Point >::getMap | ( | ) | [inline, virtual] |
map is not necessarily implemented
Reimplemented in cob_3d_registration::Registration_FastSLAM< Point >, cob_3d_registration::Registration_Infobased< Point >, and cob_3d_registration::Registration_ICP< Point >.
Definition at line 144 of file general_registration.h.
| virtual boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::GeneralRegistration< Point >::getMarkers | ( | ) | [inline, virtual] |
debug function for marker visualization
Reimplemented in cob_3d_registration::Registration_FastSLAM< Point >, cob_3d_registration::Registration_ICP_Edges< Point >, and cob_3d_registration::Registration_ICP_NARF< Point >.
Definition at line 121 of file general_registration.h.
| virtual bool cob_3d_registration::GeneralRegistration< Point >::getSceneChanged | ( | ) | const [inline, virtual] |
Definition at line 141 of file general_registration.h.
| virtual Eigen::Matrix4f cob_3d_registration::GeneralRegistration< Point >::getTransformation | ( | ) | const [inline, virtual] |
get transformation
Definition at line 138 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setInputCloud | ( | const boost::shared_ptr< const pcl::PointCloud< Point > > & | cloud | ) | [inline, virtual] |
sets preprocessed input cloud
Definition at line 100 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setInputDepthImage | ( | const boost::shared_ptr< const cv::Mat > & | img | ) | [inline, virtual] |
set disparity image
Definition at line 116 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setInputImage | ( | const boost::shared_ptr< const cv::Mat > & | img | ) | [inline, virtual] |
set color image
Definition at line 111 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setInputOginalCloud | ( | const boost::shared_ptr< const pcl::PointCloud< Point > > & | cloud | ) | [inline, virtual] |
sets orginal input cloud
Definition at line 106 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setMoved | ( | const bool | b | ) | [inline, virtual] |
Definition at line 140 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setOdometry | ( | const Eigen::Matrix4f & | odometry | ) | [inline, virtual] |
change transformation matrix (for example if odometry results are known)
Reimplemented in cob_3d_registration::Registration_Infobased< Point >.
Definition at line 95 of file general_registration.h.
| virtual void cob_3d_registration::GeneralRegistration< Point >::setTransformation | ( | const Eigen::Matrix4f & | mat | ) | [inline, virtual] |
Reimplemented in cob_3d_registration::Registration_Infobased< Point >.
Definition at line 139 of file general_registration.h.
Member Data Documentation
boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::GeneralRegistration< Point >::input_ [protected] |
Definition at line 152 of file general_registration.h.
boost::shared_ptr<const cv::Mat> cob_3d_registration::GeneralRegistration< Point >::input_depth_image_ [protected] |
Definition at line 153 of file general_registration.h.
boost::shared_ptr<const cv::Mat> cob_3d_registration::GeneralRegistration< Point >::input_image_ [protected] |
Definition at line 153 of file general_registration.h.
boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::GeneralRegistration< Point >::input_org_ [protected] |
Definition at line 152 of file general_registration.h.
bool cob_3d_registration::GeneralRegistration< Point >::moved_ [protected] |
Definition at line 155 of file general_registration.h.
bool cob_3d_registration::GeneralRegistration< Point >::scene_changed_ [protected] |
Definition at line 155 of file general_registration.h.
Eigen::Matrix4f cob_3d_registration::GeneralRegistration< Point >::transformation_ [protected] |
Definition at line 154 of file general_registration.h.
The documentation for this class was generated from the following file: