lvr2::ICPPointAlign Class Reference

A class to align two Scans with ICP. More...

#include <ICPPointAlign.hpp>

Public Member Functions
double	getEpsilon () const
int	getMaxIterations () const
int	getMaxLeafSize () const
double	getMaxMatchDistance () const
bool	getVerbose () const
	ICPPointAlign (SLAMScanPtr model, SLAMScanPtr data)
	Construct a new ICPPointAlign object. Data is transformed to match Model. More...
Transformd	match ()
	Executes the ICPAlign. More...
void	setEpsilon (double epsilon)
void	setMaxIterations (int iterations)
void	setMaxLeafSize (int maxLeafSize)
void	setMaxMatchDistance (double distance)
void	setVerbose (bool verbose)
virtual	~ICPPointAlign ()=default

Protected Attributes
SLAMScanPtr	m_dataCloud
double	m_epsilon
double	m_maxDistanceMatch
int	m_maxIterations
int	m_maxLeafSize
SLAMScanPtr	m_modelCloud
KDTreePtr	m_searchTree
bool	m_verbose

Detailed Description

A class to align two Scans with ICP.

Definition at line 49 of file ICPPointAlign.hpp.

Constructor & Destructor Documentation

ICPPointAlign()

lvr2::ICPPointAlign::ICPPointAlign	(	SLAMScanPtr	model,
		SLAMScanPtr	data
	)

Construct a new ICPPointAlign object. Data is transformed to match Model.

Parameters

model	The Model Scan (stays unchanged)
data	The Data Scan (transformed)

Definition at line 46 of file ICPPointAlign.cpp.

~ICPPointAlign()

virtual lvr2::ICPPointAlign::~ICPPointAlign ( )

virtualdefault

Member Function Documentation

getEpsilon()

double lvr2::ICPPointAlign::getEpsilon

(

)

const

Definition at line 166 of file ICPPointAlign.cpp.

getMaxIterations()

int lvr2::ICPPointAlign::getMaxIterations

(

)

const

Definition at line 156 of file ICPPointAlign.cpp.

getMaxLeafSize()

int lvr2::ICPPointAlign::getMaxLeafSize

(

)

const

Definition at line 161 of file ICPPointAlign.cpp.

getMaxMatchDistance()

double lvr2::ICPPointAlign::getMaxMatchDistance

(

)

const

Definition at line 151 of file ICPPointAlign.cpp.

getVerbose()

bool lvr2::ICPPointAlign::getVerbose

(

)

const

Definition at line 171 of file ICPPointAlign.cpp.

match()

Transformd lvr2::ICPPointAlign::match

(

)

Executes the ICPAlign.

Returns

Transformd The delta transformation caused by this Method

Definition at line 58 of file ICPPointAlign.cpp.

setEpsilon()

void lvr2::ICPPointAlign::setEpsilon

(

double

epsilon

)

Definition at line 142 of file ICPPointAlign.cpp.

setMaxIterations()

void lvr2::ICPPointAlign::setMaxIterations

(

int

iterations

)

Definition at line 132 of file ICPPointAlign.cpp.

setMaxLeafSize()

void lvr2::ICPPointAlign::setMaxLeafSize

(

int

maxLeafSize

)

Definition at line 137 of file ICPPointAlign.cpp.

setMaxMatchDistance()

void lvr2::ICPPointAlign::setMaxMatchDistance

(

double

distance

)

Definition at line 127 of file ICPPointAlign.cpp.

setVerbose()

void lvr2::ICPPointAlign::setVerbose

(

bool

verbose

)

Definition at line 146 of file ICPPointAlign.cpp.

Member Data Documentation

m_dataCloud

SLAMScanPtr lvr2::ICPPointAlign::m_dataCloud

protected

Definition at line 91 of file ICPPointAlign.hpp.

m_epsilon

double lvr2::ICPPointAlign::m_epsilon

protected

Definition at line 83 of file ICPPointAlign.hpp.

m_maxDistanceMatch

double lvr2::ICPPointAlign::m_maxDistanceMatch

protected

Definition at line 84 of file ICPPointAlign.hpp.

m_maxIterations

int lvr2::ICPPointAlign::m_maxIterations

protected

Definition at line 85 of file ICPPointAlign.hpp.

m_maxLeafSize

int lvr2::ICPPointAlign::m_maxLeafSize

protected

Definition at line 86 of file ICPPointAlign.hpp.

m_modelCloud

SLAMScanPtr lvr2::ICPPointAlign::m_modelCloud

protected

Definition at line 90 of file ICPPointAlign.hpp.

m_searchTree

KDTreePtr lvr2::ICPPointAlign::m_searchTree

protected

Definition at line 93 of file ICPPointAlign.hpp.

m_verbose

bool lvr2::ICPPointAlign::m_verbose

protected

Definition at line 88 of file ICPPointAlign.hpp.

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

• ICPPointAlign.hpp
• ICPPointAlign.cpp