RegistrationPipeline Class Reference

#include <RegistrationPipeline.hpp>

Public Member Functions
void	doRegistration ()
	Starts the registration. More...
	RegistrationPipeline (const SLAMOptions *options, ScanProjectEditMarkPtr scans)
	Construct a new RegistrationPipeline object. More...

Private Member Functions
bool	isToleratedDifference (Transformd a, Transformd b)
	Metric to determine wether the given matrices are too different from each other. More...
void	rotateAroundYAxis (Transformd *inputMatrix4x4, double angle)
	Rotates the given 4x4 matrix around the y-axis. More...

Private Attributes
const SLAMOptions *	m_options
ScanProjectEditMarkPtr	m_scans

Detailed Description

Definition at line 45 of file RegistrationPipeline.hpp.

Constructor & Destructor Documentation

RegistrationPipeline()

RegistrationPipeline::RegistrationPipeline	(	const SLAMOptions *	options,
		ScanProjectEditMarkPtr	scans
	)

Construct a new RegistrationPipeline object.

Parameters

options	The SLAM Options
scans	The scan project

Definition at line 113 of file RegistrationPipeline.cpp.

Member Function Documentation

doRegistration()

void RegistrationPipeline::doRegistration

(

)

Starts the registration.

Starts the registration. Uses the SLAMOptions given in the constructor.

Definition at line 120 of file RegistrationPipeline.cpp.

isToleratedDifference()

bool RegistrationPipeline::isToleratedDifference ( Transformd  a, Transformd  b  )

private

Metric to determine wether the given matrices are too different from each other.

Parameters

a	Transformation matrix
b	Transformation matrix

Returns

true if a and b are in tolerated range

false if difference between a and b is too big

Definition at line 45 of file RegistrationPipeline.cpp.

rotateAroundYAxis()

void RegistrationPipeline::rotateAroundYAxis ( Transformd *  inputMatrix4x4, double  angle  )

private

Rotates the given 4x4 matrix around the y-axis.

Parameters

inputMatrix4x4	The matrix getting transformed
angle	The rotation angle in degree

Rotates the given 4x4 matrix around the y-axis. For the Situation, where the scanner was mounted at an incorrect angle. Can be used when all scans have the same angle offset.

Definition at line 83 of file RegistrationPipeline.cpp.

Member Data Documentation

m_options

const SLAMOptions* RegistrationPipeline::m_options

private

Definition at line 85 of file RegistrationPipeline.hpp.

m_scans

ScanProjectEditMarkPtr RegistrationPipeline::m_scans

private

Definition at line 86 of file RegistrationPipeline.hpp.

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The documentation for this class was generated from the following files:

• RegistrationPipeline.hpp
• RegistrationPipeline.cpp