include
lvr2
registration
RegistrationPipeline.hpp
Go to the documentation of this file.
1
28
#ifndef REGISTRATION_PIPELINE_OBJECT_H_
29
#define REGISTRATION_PIPELINE_OBJECT_H_
30
31
#include "
lvr2/registration/SLAMOptions.hpp
"
32
#include "
lvr2/registration/GraphSLAM.hpp
"
33
#include "
lvr2/types/ScanTypes.hpp
"
43
using namespace
lvr2
;
44
45
class
RegistrationPipeline
46
{
47
public
:
48
55
RegistrationPipeline
(
const
SLAMOptions
*
options
,
ScanProjectEditMarkPtr
scans);
56
62
void
doRegistration();
63
private
:
64
73
bool
isToleratedDifference(
Transformd
a,
Transformd
b);
74
83
void
rotateAroundYAxis(
Transformd
*inputMatrix4x4,
double
angle);
84
85
const
SLAMOptions
*
m_options
;
86
ScanProjectEditMarkPtr
m_scans
;
87
};
88
89
#endif // REGISTRATION_PIPELINE_OBJECT_H_
lvr2::ScanProjectEditMarkPtr
std::shared_ptr< ScanProjectEditMark > ScanProjectEditMarkPtr
Definition:
ScanTypes.hpp:357
lvr2::Transformd
Transform< double > Transformd
4x4 double precision transformation matrix
Definition:
MatrixTypes.hpp:71
ScanTypes.hpp
RegistrationPipeline::m_options
const SLAMOptions * m_options
Definition:
RegistrationPipeline.hpp:85
options
const kaboom::Options * options
Definition:
src/tools/lvr2_kaboom/Main.cpp:45
SLAMOptions.hpp
RegistrationPipeline::m_scans
ScanProjectEditMarkPtr m_scans
Definition:
RegistrationPipeline.hpp:86
lvr2
Definition:
BaseBufferManipulators.hpp:39
lvr2::SLAMOptions
A struct to configure SLAMAlign.
Definition:
SLAMOptions.hpp:45
RegistrationPipeline
Definition:
RegistrationPipeline.hpp:45
GraphSLAM.hpp
lvr2
Author(s): Thomas Wiemann
, Sebastian Pütz
, Alexander Mock
, Lars Kiesow
, Lukas Kalbertodt
, Tristan Igelbrink
, Johan M. von Behren
, Dominik Feldschnieders
, Alexander Löhr
autogenerated on Wed Mar 2 2022 00:37:24