util3d_registration.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef UTIL3D_REGISTRATION_H_
29 #define UTIL3D_REGISTRATION_H_
30 
31 #include <rtabmap/core/rtabmap_core_export.h>
32 
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <rtabmap/core/Transform.h>
36 #include <opencv2/core/core.hpp>
37 
38 namespace rtabmap
39 {
40 
41 namespace util3d
42 {
43 
44 int RTABMAP_CORE_EXPORT getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
45  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
46  float maxDistance);
47 
48 Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
49  const pcl::PointCloud<pcl::PointXYZ> & cloud1,
50  const pcl::PointCloud<pcl::PointXYZ> & cloud2);
51 
52 Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
53  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
54  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
55  double inlierThreshold = 0.02,
56  int iterations = 100,
57  int refineModelIterations = 10,
58  double refineModelSigma = 3.0,
59  std::vector<int> * inliers = 0,
60  cv::Mat * variance = 0);
61 
62 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
63  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
64  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
65  double maxCorrespondenceDistance,
66  double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
67  double & variance,
68  int & correspondencesOut,
69  bool reciprocal);
70 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
71  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
72  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
73  double maxCorrespondenceDistance,
74  double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
75  double & variance,
76  int & correspondencesOut,
77  bool reciprocal);
78 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
79  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
80  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
81  double maxCorrespondenceDistance,
82  double & variance,
83  int & correspondencesOut,
84  bool reciprocal);
85 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
86  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
87  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
88  double maxCorrespondenceDistance,
89  double & variance,
90  int & correspondencesOut,
91  bool reciprocal);
92 
93 Transform RTABMAP_CORE_EXPORT icp(
94  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
95  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
96  double maxCorrespondenceDistance,
97  int maximumIterations,
98  bool & hasConverged,
99  pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
100  float epsilon = 0.0f,
101  bool icp2D = false);
102 Transform RTABMAP_CORE_EXPORT icp(
103  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
104  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
105  double maxCorrespondenceDistance,
106  int maximumIterations,
107  bool & hasConverged,
108  pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
109  float epsilon = 0.0f,
110  bool icp2D = false);
111 
112 Transform RTABMAP_CORE_EXPORT icpPointToPlane(
113  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
114  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
115  double maxCorrespondenceDistance,
116  int maximumIterations,
117  bool & hasConverged,
118  pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
119  float epsilon = 0.0f,
120  bool icp2D = false);
121 Transform RTABMAP_CORE_EXPORT icpPointToPlane(
122  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
123  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
124  double maxCorrespondenceDistance,
125  int maximumIterations,
126  bool & hasConverged,
127  pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
128  float epsilon = 0.0f,
129  bool icp2D = false);
130 
131 } // namespace util3d
132 } // namespace rtabmap
133 
134 #endif /* UTIL3D_REGISTRATION_H_ */
rtabmap::util3d::transformFromXYZCorrespondences
Transform RTABMAP_CORE_EXPORT 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)
Definition: util3d_registration.cpp:63
Transform.h
rtabmap::util3d::computeVarianceAndCorrespondences
void RTABMAP_CORE_EXPORT 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)
Definition: util3d_registration.cpp:303
rtabmap::util3d::icp
Transform RTABMAP_CORE_EXPORT 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)
Definition: util3d_registration.cpp:424
rtabmap::util3d::icpPointToPlane
Transform RTABMAP_CORE_EXPORT 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)
Definition: util3d_registration.cpp:495
rtabmap::util3d::getCorrespondencesCount
int RTABMAP_CORE_EXPORT getCorrespondencesCount(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance)
Definition: util3d_correspondences.cpp:276
epsilon
double epsilon
rtabmap::util3d::transformFromXYZCorrespondencesSVD
Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
Definition: util3d_registration.cpp:50
rtabmap
Definition: CameraARCore.cpp:35

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:23