test_svd.cpp File Reference

Description: More...

#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <boost/random.hpp>
#include <boost/random/normal_distribution.hpp>

Include dependency graph for test_svd.cpp:

Go to the source code of this file.

Defines
#define	ADD_NOISE()
#define	PCL_MINOR   (PCL_VERSION[2] - '0')
Functions
void	addNoise (pcl::PointCloud< pcl::PointXYZ > &pc, int noise)
pcl::PointCloud< pcl::PointXYZ >	generateData (int data)
void	generateTF (int trans, Eigen::Quaternionf &R, Eigen::Vector3f &t, Eigen::Matrix3f &mR)
int	main (int argc, char **argv)
void	transform (pcl::PointCloud< pcl::PointXYZ > &pc, Eigen::Quaternionf &R, Eigen::Vector3f &t)
void	write (const char *str)
void	write (const int n)
void	write (const float n)
Variables
FILE *	fp = NULL

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Detailed Description

Description:

Note:

Copyright (c) 2012
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: care-o-bot

ROS stack name: cob_vision

ROS package name: registration

Author:

Author: goa-jh

Supervised by: Georg Arbeiter, email:georg.arbeiter@ipa.fhg.de

Date:

Date of creation: Nov 28, 2011

ToDo:

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file test_svd.cpp.

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Define Documentation

#define ADD_NOISE

(

)

Value:

p.x+=var_nor();\
    p.y+=var_nor();\
    p.z+=var_nor();

Definition at line 79 of file test_svd.cpp.

#define PCL_MINOR   (PCL_VERSION[2] - '0')

Definition at line 67 of file test_svd.cpp.

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Function Documentation

void addNoise	(	pcl::PointCloud< pcl::PointXYZ > &	pc,
		int	noise
	)

Definition at line 182 of file test_svd.cpp.

pcl::PointCloud<pcl::PointXYZ> generateData

(

int

data

)

Definition at line 84 of file test_svd.cpp.

void generateTF	(	int	trans,
		Eigen::Quaternionf &	R,
		Eigen::Vector3f &	t,
		Eigen::Matrix3f &	mR
	)

Definition at line 141 of file test_svd.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 219 of file test_svd.cpp.

void transform	(	pcl::PointCloud< pcl::PointXYZ > &	pc,
		Eigen::Quaternionf &	R,
		Eigen::Vector3f &	t
	)

Definition at line 171 of file test_svd.cpp.

void write

(

const char *

str

)

Definition at line 201 of file test_svd.cpp.

void write

(

const int

n

)

Definition at line 206 of file test_svd.cpp.

void write

(

const float

n

)

Definition at line 212 of file test_svd.cpp.

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Variable Documentation

FILE* fp = NULL

Definition at line 200 of file test_svd.cpp.