calcTF< Point > Class Template Reference

List of all members.

Public Member Functions
	calcTF (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new)
Eigen::Matrix4f	findCloud ()
Eigen::Matrix4f	findTF (const pcl::PointCloud< Point > &pco, const pcl::PointCloud< Point > &pcn)
void	getWeights (const std::vector< int > &inds, std::vector< int > &weight_o, std::vector< int > &weight_n)
Private Member Functions
Eigen::Matrix4f	_findTF (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new, std::vector< COR_S > &cors, float border_a, float border_t, float border_a2, std::vector< int > &weight_o, std::vector< int > &weight_n, const Eigen::Vector3f &prev_trans=Null3f())
Eigen::Vector3f	getAxis2 (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new, const std::vector< COR_S > &cors, const float max_dis, const Eigen::Vector3f &rel_old, const Eigen::Vector3f &rel_new, std::vector< int > &weight_o, std::vector< int > &weight_n)
Eigen::Matrix4f	getTF2 (const Eigen::Vector3f &axis, const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p_s, const Eigen::Vector3f &p1n, const Eigen::Vector3f &p2n, const Eigen::Vector3f &pn_s)
int	remError (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new, std::vector< COR_S > &cors, const Eigen::Matrix4f &tf, const float border_a, const float border_t, std::vector< int > &weight_o, std::vector< int > &weight_n)
Private Attributes
std::vector< float >	dis_new
std::vector< float >	dis_old
const float	mininfo
const pcl::PointCloud< Point > &	pc_new_
const pcl::PointCloud< Point > &	pc_old_
const float	rmax
const float	tmax
std::vector< SORT_S2 >	tv

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Detailed Description

template<typename Point>
class calcTF< Point >

Definition at line 2057 of file frir_freehand.cpp.

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Constructor & Destructor Documentation

template<typename Point>

calcTF< Point >::calcTF	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new
	)		[inline]

Definition at line 2067 of file frir_freehand.cpp.

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Member Function Documentation

template<typename Point>

Eigen::Matrix4f calcTF< Point >::_findTF	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new,
		std::vector< COR_S > &	cors,
		float	border_a,
		float	border_t,
		float	border_a2,
		std::vector< int > &	weight_o,
		std::vector< int > &	weight_n,
		const Eigen::Vector3f &	prev_trans = Null3f()
	)		[inline, private]

Definition at line 2311 of file frir_freehand.cpp.

template<typename Point>

Eigen::Matrix4f calcTF< Point >::findCloud

(

)

[inline]

Definition at line 2119 of file frir_freehand.cpp.

template<typename Point>

Eigen::Matrix4f calcTF< Point >::findTF	(	const pcl::PointCloud< Point > &	pco,
		const pcl::PointCloud< Point > &	pcn
	)		[inline]

Definition at line 2250 of file frir_freehand.cpp.

template<typename Point>

Eigen::Vector3f calcTF< Point >::getAxis2	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new,
		const std::vector< COR_S > &	cors,
		const float	max_dis,
		const Eigen::Vector3f &	rel_old,
		const Eigen::Vector3f &	rel_new,
		std::vector< int > &	weight_o,
		std::vector< int > &	weight_n
	)		[inline, private]

Definition at line 2416 of file frir_freehand.cpp.

template<typename Point>

Eigen::Matrix4f calcTF< Point >::getTF2	(	const Eigen::Vector3f &	axis,
		const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p_s,
		const Eigen::Vector3f &	p1n,
		const Eigen::Vector3f &	p2n,
		const Eigen::Vector3f &	pn_s
	)		[inline, private]

Definition at line 2382 of file frir_freehand.cpp.

template<typename Point>

void calcTF< Point >::getWeights	(	const std::vector< int > &	inds,
		std::vector< int > &	weight_o,
		std::vector< int > &	weight_n
	)		[inline]

Definition at line 2091 of file frir_freehand.cpp.

template<typename Point>

int calcTF< Point >::remError	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new,
		std::vector< COR_S > &	cors,
		const Eigen::Matrix4f &	tf,
		const float	border_a,
		const float	border_t,
		std::vector< int > &	weight_o,
		std::vector< int > &	weight_n
	)		[inline, private]

Definition at line 2358 of file frir_freehand.cpp.

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Member Data Documentation

template<typename Point>

std::vector<float> calcTF< Point >::dis_new [private]

Definition at line 2065 of file frir_freehand.cpp.

template<typename Point>

std::vector<float> calcTF< Point >::dis_old [private]

Definition at line 2065 of file frir_freehand.cpp.

template<typename Point>

const float calcTF< Point >::mininfo [private]

Definition at line 2064 of file frir_freehand.cpp.

template<typename Point>

const pcl::PointCloud<Point>& calcTF< Point >::pc_new_ [private]

Definition at line 2061 of file frir_freehand.cpp.

template<typename Point>

const pcl::PointCloud<Point>& calcTF< Point >::pc_old_ [private]

Definition at line 2060 of file frir_freehand.cpp.

template<typename Point>

const float calcTF< Point >::rmax [private]

Definition at line 2062 of file frir_freehand.cpp.

template<typename Point>

const float calcTF< Point >::tmax [private]

Definition at line 2063 of file frir_freehand.cpp.

template<typename Point>

std::vector<SORT_S2> calcTF< Point >::tv [private]

Definition at line 2059 of file frir_freehand.cpp.

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

• frir_freehand.cpp