lvr2::EigenSVDPointAlign< T, PointT > Class Template Reference

#include <EigenSVDPointAlign.hpp>

Public Types
using	Mat3 = Eigen::Matrix< T, 3, 3 >
using	Mat4 = Transform< T >
using	Point3 = Vector3< PointT >
using	PointPairVector = std::vector< std::pair< Point3, Point3 > >
using	Vec3 = Vector3< T >

Public Member Functions
T	alignPoints (PointPairVector &points, const Vec3 &centroid_m, const Vec3 &centroid_d, Mat4 &align) const
	Calculates the estimated Transformation to match a Data Pointcloud to a Model Pointcloud. More...
T	alignPoints (SLAMScanPtr scan, Point3 **neighbors, const Vec3 &centroid_m, const Vec3 &centroid_d, Mat4 &align) const
	Calculates the estimated Transformation to match a Data Pointcloud to a Model Pointcloud. More...
	EigenSVDPointAlign ()

Detailed Description

template<typename T, typename PointT = float>
class lvr2::EigenSVDPointAlign< T, PointT >

Definition at line 46 of file EigenSVDPointAlign.hpp.

Member Typedef Documentation

Mat3

template<typename T , typename PointT = float>

using lvr2::EigenSVDPointAlign< T, PointT >::Mat3 = Eigen::Matrix<T, 3, 3>

Definition at line 51 of file EigenSVDPointAlign.hpp.

Mat4

template<typename T , typename PointT = float>

using lvr2::EigenSVDPointAlign< T, PointT >::Mat4 = Transform<T>

Definition at line 50 of file EigenSVDPointAlign.hpp.

Point3

template<typename T , typename PointT = float>

using lvr2::EigenSVDPointAlign< T, PointT >::Point3 = Vector3<PointT>

Definition at line 52 of file EigenSVDPointAlign.hpp.

PointPairVector

template<typename T , typename PointT = float>

using lvr2::EigenSVDPointAlign< T, PointT >::PointPairVector = std::vector<std::pair<Point3, Point3> >

Definition at line 53 of file EigenSVDPointAlign.hpp.

Vec3

template<typename T , typename PointT = float>

using lvr2::EigenSVDPointAlign< T, PointT >::Vec3 = Vector3<T>

Definition at line 49 of file EigenSVDPointAlign.hpp.

Constructor & Destructor Documentation

EigenSVDPointAlign()

template<typename T , typename PointT = float>

lvr2::EigenSVDPointAlign< T, PointT >::EigenSVDPointAlign ( )

inline

Definition at line 55 of file EigenSVDPointAlign.hpp.

Member Function Documentation

alignPoints() [1/2]

template<typename T , typename PointT = float>

T lvr2::EigenSVDPointAlign< T, PointT >::alignPoints	(	PointPairVector &	points,
		const Vec3 &	centroid_m,
		const Vec3 &	centroid_d,
		Mat4 &	align
	)		const

Calculates the estimated Transformation to match a Data Pointcloud to a Model Pointcloud.

Apply the resulting Transform to the Data Pointcloud.

Parameters

points	A vector of pairs with (model, data) Points
centroid_m	The center of the Model Pointcloud
centroid_d	The center of the Data Pointcloud
align	Will be set to the Transformation

Returns

The average Point-to-Point error of the Scans

alignPoints() [2/2]

template<typename T , typename PointT = float>

T lvr2::EigenSVDPointAlign< T, PointT >::alignPoints	(	SLAMScanPtr	scan,
		Point3 **	neighbors,
		const Vec3 &	centroid_m,
		const Vec3 &	centroid_d,
		Mat4 &	align
	)		const

Calculates the estimated Transformation to match a Data Pointcloud to a Model Pointcloud.

Apply the resulting Transform to the Data Pointcloud.

Parameters

scan	The Data Pointcloud
neighbors	An array containing a Pointer to a neighbor in the Model Pointcloud for each Point in scan, or nullptr if there is no neighbor for a Point
centroid_m	The center of the Model Pointcloud
centroid_d	The center of the Data Pointcloud
align	Will be set to the Transformation

Returns

The average Point-to-Point error of the Scans

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

• EigenSVDPointAlign.hpp