Namespaces | Functions
util3d_registration.cpp File Reference
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include <pcl/registration/icp.h>
#include <pcl/registration/transformation_estimation_2D.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/sample_consensus/sac_model_registration.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/common/common.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
Include dependency graph for util3d_registration.cpp:

Go to the source code of this file.

Namespaces

namespace  rtabmap
namespace  rtabmap::util3d

Functions

void RTABMAP_EXP rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut)
void RTABMAP_EXP rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut)
Transform RTABMAP_EXP rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
Transform RTABMAP_EXP rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
Transform RTABMAP_EXP rtabmap::util3d::transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
Transform RTABMAP_EXP rtabmap::util3d::transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:37