High-level map-merging interface. More...

Classes
struct	map_merge_3d::MapMergingParams
	Parameters for map merging high-level interface. More...

Functions
PointCloudPtr	map_merge_3d::composeMaps (const std::vector< PointCloudConstPtr > &clouds, const std::vector< Eigen::Matrix4f > &transforms, double resolution)
	Composes the global map. More...

std::vector< Eigen::Matrix4f >	map_merge_3d::estimateMapsTransforms (const std::vector< PointCloudConstPtr > &clouds, const MapMergingParams &params)
	Estimate transformations between n pointclouds. More...

std::ostream &	map_merge_3d::operator<< (std::ostream &stream, const MapMergingParams &params)

Detailed Description

High-level map-merging interface.

High-level interface to estimate transformations between n pointclouds and compositing global map..

Function Documentation

PointCloudPtr map_merge_3d::composeMaps	(	const std::vector< PointCloudConstPtr > &	clouds,
		const std::vector< Eigen::Matrix4f > &	transforms,
		double	resolution
	)

Composes the global map.

Pointclouds with zero transformation will be skipped.

Parameters

clouds	input clouds
transforms	estimated transformations between input clouds
resolution	resolution of the output pointcloud

std::vector<Eigen::Matrix4f> map_merge_3d::estimateMapsTransforms	(	const std::vector< PointCloudConstPtr > &	clouds,
		const MapMergingParams &	params
	)

Estimate transformations between n pointclouds.

Estimation is based on overlapping space. One of the pointclouds will be selected as the reference frame for all the transformations.

Parameters

clouds	input pointclouds
params	parameters for estimation

Returns: Estimated transformations pointcloud -> reference frame for each input pointcloud. If the transformation could not estimated, the transformation will be zero matrix for the respective pointcloud.

std::ostream& map_merge_3d::operator<<	(	std::ostream &	stream,
		const MapMergingParams &	params
	)