Core data structures and utilities for mp2p_icp. More...
Classes | |
| struct | mp2p_icp::color_mode_t |
| class | mp2p_icp::metric_map_t |
| Generic container of pointcloud(s), extracted features and other maps. More... | |
| class | mp2p_icp::NearestPlaneCapable |
| struct | mp2p_icp::pairings_render_params_t |
| class | mp2p_icp::Parameterizable |
| class | mp2p_icp::ParameterSource |
| struct | mp2p_icp::plane_patch_t |
| struct | mp2p_icp::point_plane_pair_t |
| struct | mp2p_icp::pointcloud_bitfield_t |
| struct | mp2p_icp::PointCloudEigen |
| Output of estimate_points_eigen() More... | |
| struct | mp2p_icp::render_params_lines_t |
| struct | mp2p_icp::render_params_pairings_pt2ln_t |
| struct | mp2p_icp::render_params_pairings_pt2pl_t |
| struct | mp2p_icp::render_params_pairings_pt2pt_t |
| struct | mp2p_icp::render_params_planes_t |
| struct | mp2p_icp::render_params_point_layer_t |
| struct | mp2p_icp::render_params_points_t |
| struct | mp2p_icp::render_params_t |
Typedefs | |
| using | mp2p_icp::layer_name_t = std::string |
| using | mp2p_icp::MatchedPointPlaneList = std::vector< point_plane_pair_t > |
Enumerations | |
| enum | mp2p_icp::Coordinate : uint8_t { mp2p_icp::Coordinate::X = 0, mp2p_icp::Coordinate::Y, mp2p_icp::Coordinate::Z } |
Functions | |
| PointCloudEigen | mp2p_icp::estimate_points_eigen (const float *xs, const float *ys, const float *zs, mrpt::optional_ref< const std::vector< size_t >> indices, std::optional< size_t > totalCount=std::nullopt) |
| mrpt::maps::CSimplePointsMap::Ptr | mp2p_icp::load_xyz_file (const std::string &fil) |
| const mrpt::maps::NearestNeighborsCapable * | mp2p_icp::MapToNN (const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented) |
| const mp2p_icp::NearestPlaneCapable * | mp2p_icp::MapToNP (const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented) |
| const mrpt::maps::CPointsMap * | mp2p_icp::MapToPointsMap (const mrpt::maps::CMetricMap &map) |
| mrpt::maps::CPointsMap * | mp2p_icp::MapToPointsMap (mrpt::maps::CMetricMap &map) |
| mrpt::serialization::CArchive & | mp2p_icp::operator<< (mrpt::serialization::CArchive &out, const std::optional< metric_map_t::Georeferencing > &g) |
| mrpt::serialization::CArchive & | mp2p_icp::operator>> (mrpt::serialization::CArchive &in, std::optional< metric_map_t::Georeferencing > &g) |
| bool | mp2p_icp::pointcloud_sanity_check (const mrpt::maps::CPointsMap &pc, bool printWarnings=true) |
Core data structures and utilities for mp2p_icp.
| using mp2p_icp::layer_name_t = typedef std::string |
Definition at line 22 of file layer_name_t.h.
| using mp2p_icp::MatchedPointPlaneList = typedef std::vector<point_plane_pair_t> |
Definition at line 40 of file point_plane_pair_t.h.
|
strong |
| Enumerator | |
|---|---|
| X | |
| Y | |
| Z | |
Definition at line 73 of file render_params.h.
| mp2p_icp::PointCloudEigen mp2p_icp::estimate_points_eigen | ( | const float * | xs, |
| const float * | ys, | ||
| const float * | zs, | ||
| mrpt::optional_ref< const std::vector< size_t >> | indices, | ||
| std::optional< size_t > | totalCount = std::nullopt |
||
| ) |
Calculate mean, covariance, eigenvectors, and eigenvalues from a set of points.
It is mandatory to provide one and only one of these two parameters:
indices: only the points with these indices will be considered.totalCount: all points will be used, ignoring indices.| xs[in] | Input x coordinate vector. |
| ys[in] | Input y coordinate vector. |
| zs[in] | Input z coordinate vector. |
| indices[in] | 0-based indices of points to consider from the vectors. |
| totalCount[in] | Total number of points in the vectors. |
| std::exception | If less than 3 points are provided. |
Definition at line 19 of file estimate_points_eigen.cpp.
| mrpt::maps::CSimplePointsMap::Ptr mp2p_icp::load_xyz_file | ( | const std::string & | fil | ) |
Loads a pointcloud from an ASCII "XYZ file", storing an Nx3 matrix (each row is a point). If the filename extension ends in ".gz", it is uncompressed automatically.
Definition at line 21 of file load_xyz_file.cpp.
| const mrpt::maps::NearestNeighborsCapable * mp2p_icp::MapToNN | ( | const mrpt::maps::CMetricMap & | map, |
| bool | throwIfNotImplemented | ||
| ) |
Returns the dynamic_cast<> of the metric map as a mrpt::maps::NearestNeighborsCapable. If the interface is not implemented it returns nullptr, or throws an exception if it throwIfNotImplemented is true.
Definition at line 686 of file metricmap.cpp.
| const mp2p_icp::NearestPlaneCapable * mp2p_icp::MapToNP | ( | const mrpt::maps::CMetricMap & | map, |
| bool | throwIfNotImplemented | ||
| ) |
Returns the dynamic_cast<> of the metric map as a mp2p_icp::NearestPlaneCapable. If the interface is not implemented it returns nullptr, or throws an exception if it throwIfNotImplemented is true.
Definition at line 701 of file metricmap.cpp.
| const mrpt::maps::CPointsMap * mp2p_icp::MapToPointsMap | ( | const mrpt::maps::CMetricMap & | map | ) |
Function to extract the CPointsMap for any kind of CMetricMap, if there exists a conversion that makes sense for matching against it. Typically:
Returns an empty shared_ptr if conversion is not possible.
Definition at line 648 of file metricmap.cpp.
| mrpt::maps::CPointsMap * mp2p_icp::MapToPointsMap | ( | mrpt::maps::CMetricMap & | map | ) |
Definition at line 668 of file metricmap.cpp.
| mrpt::serialization::CArchive & mp2p_icp::operator<< | ( | mrpt::serialization::CArchive & | out, |
| const std::optional< metric_map_t::Georeferencing > & | g | ||
| ) |
Definition at line 744 of file metricmap.cpp.
| mrpt::serialization::CArchive & mp2p_icp::operator>> | ( | mrpt::serialization::CArchive & | in, |
| std::optional< metric_map_t::Georeferencing > & | g | ||
| ) |
Definition at line 718 of file metricmap.cpp.
| bool mp2p_icp::pointcloud_sanity_check | ( | const mrpt::maps::CPointsMap & | pc, |
| bool | printWarnings = true |
||
| ) |
Returns false (and optionally prints a warning to std::cerr) if the point cloud fields are not correctly sized.
Definition at line 19 of file pointcloud_sanity_check.cpp.