Namespaces | Functions
util3d_registration.cpp File Reference
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include <pcl/registration/icp.h>
#include <pcl/registration/transformation_estimation_2D.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/sample_consensus/sac_model_registration.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/common/common.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
Include dependency graph for util3d_registration.cpp:

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Namespaces

 rtabmap
 
 rtabmap::util3d
 

Functions

void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
 
void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
 
void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
 
void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
 
template<typename PointNormalT >
void rtabmap::util3d::computeVarianceAndCorrespondencesImpl (const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloudA, const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
 
template<typename PointT >
void rtabmap::util3d::computeVarianceAndCorrespondencesImpl (const typename pcl::PointCloud< PointT >::ConstPtr &cloudA, const typename pcl::PointCloud< PointT >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZI > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
 
template<typename PointT >
Transform rtabmap::util3d::icpImpl (const typename pcl::PointCloud< PointT >::ConstPtr &cloud_source, const typename pcl::PointCloud< PointT >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< PointT > &cloud_source_registered, float epsilon, bool icp2D)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZINormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
 
template<typename PointNormalT >
Transform rtabmap::util3d::icpPointToPlaneImpl (const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloud_source, const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< PointNormalT > &cloud_source_registered, float epsilon, bool icp2D)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
 
Transform RTABMAP_CORE_EXPORT rtabmap::util3d::transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
 


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:25