#include <registration_icp.h>
Public Member Functions | |
| virtual boost::shared_ptr < pcl::PointCloud< Point > > | getMap () |
| return pointlcoud to register against | |
| Registration_ICP () | |
| void | setCorrDist (float v) |
| set maximum correlation distance | |
| void | setMaxIterations (int v) |
| set maximum number of iterations | |
| void | setNonLinear (bool b) |
| non linear uses LM instead of SVD | |
| void | setOutlierRejectionThreshold (float v) |
| sets maximum distance for RANSAC | |
| void | setTrfEpsilon (float v) |
| sets transformation epsilon as break condition for icp | |
| void | setUseGICP (bool b) |
| switch backend to gicp | |
| void | setUseOnlyLastReference (bool b) |
| set false to build up a map, instead of using only last frame for registration | |
Protected Member Functions | |
| virtual bool | compute_corrospondences () |
| virtual bool | compute_features () |
| virtual bool | compute_transformation () |
| virtual void | setSettingsForICP (ModifiedICP_G *icp) |
Protected Attributes | |
| float | icp_max_corr_dist_ |
| int | icp_max_iterations_ |
| float | icp_trf_epsilon_ |
| bool | non_linear_ |
| float | outlier_rejection_threshold_ |
| pcl::PointCloud< Point > | register_ |
| bool | use_gicp_ |
| bool | use_only_last_refrence_ |
Detailed Description
template<typename Point>
class cob_3d_registration::Registration_ICP< Point >
encapsulates icp with extension extending icp to allow featurebased matching, as keypoint matching
Definition at line 89 of file registration_icp.h.
Constructor & Destructor Documentation
| cob_3d_registration::Registration_ICP< Point >::Registration_ICP | ( | ) | [inline] |
Definition at line 92 of file registration_icp.h.
Member Function Documentation
| bool cob_3d_registration::Registration_ICP< Point >::compute_corrospondences | ( | ) | [protected, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 82 of file registration_icp.hpp.
| bool cob_3d_registration::Registration_ICP< Point >::compute_features | ( | ) | [protected, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Reimplemented in cob_3d_registration::Registration_ICP_Features_Extra< Point, FeatureType >, cob_3d_registration::Registration_ICP_Edges< Point >, cob_3d_registration::Registration_ICP_NARF< Point >, cob_3d_registration::Registration_ICP_FPFH< Point >, and cob_3d_registration::Registration_ICP_Moments< Point >.
Definition at line 70 of file registration_icp.hpp.
| bool cob_3d_registration::Registration_ICP< Point >::compute_transformation | ( | ) | [protected, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Reimplemented in cob_3d_registration::Registration_ICP_Edges< Point >, and cob_3d_registration::Registration_ICP_NARF< Point >.
Definition at line 147 of file registration_icp.hpp.
| virtual boost::shared_ptr<pcl::PointCloud<Point> > cob_3d_registration::Registration_ICP< Point >::getMap | ( | ) | [inline, virtual] |
return pointlcoud to register against
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 117 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setCorrDist | ( | float | v | ) | [inline] |
set maximum correlation distance
Definition at line 123 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setMaxIterations | ( | int | v | ) | [inline] |
set maximum number of iterations
Definition at line 120 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setNonLinear | ( | bool | b | ) | [inline] |
non linear uses LM instead of SVD
Definition at line 103 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setOutlierRejectionThreshold | ( | float | v | ) | [inline] |
sets maximum distance for RANSAC
Definition at line 129 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setSettingsForICP | ( | ModifiedICP_G * | icp | ) | [protected, virtual] |
function for setting up icp can be overwritten by subclasses to modify backend
Reimplemented in cob_3d_registration::Registration_ICP_Features< Point >.
Definition at line 205 of file registration_icp.hpp.
| void cob_3d_registration::Registration_ICP< Point >::setTrfEpsilon | ( | float | v | ) | [inline] |
sets transformation epsilon as break condition for icp
Definition at line 126 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setUseGICP | ( | bool | b | ) | [inline] |
switch backend to gicp
Definition at line 109 of file registration_icp.h.
| void cob_3d_registration::Registration_ICP< Point >::setUseOnlyLastReference | ( | bool | b | ) | [inline] |
set false to build up a map, instead of using only last frame for registration
Definition at line 106 of file registration_icp.h.
Member Data Documentation
float cob_3d_registration::Registration_ICP< Point >::icp_max_corr_dist_ [protected] |
Definition at line 148 of file registration_icp.h.
int cob_3d_registration::Registration_ICP< Point >::icp_max_iterations_ [protected] |
Definition at line 147 of file registration_icp.h.
float cob_3d_registration::Registration_ICP< Point >::icp_trf_epsilon_ [protected] |
Definition at line 148 of file registration_icp.h.
bool cob_3d_registration::Registration_ICP< Point >::non_linear_ [protected] |
Definition at line 151 of file registration_icp.h.
float cob_3d_registration::Registration_ICP< Point >::outlier_rejection_threshold_ [protected] |
Definition at line 148 of file registration_icp.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_ICP< Point >::register_ [protected] |
Definition at line 144 of file registration_icp.h.
bool cob_3d_registration::Registration_ICP< Point >::use_gicp_ [protected] |
Definition at line 151 of file registration_icp.h.
bool cob_3d_registration::Registration_ICP< Point >::use_only_last_refrence_ [protected] |
Definition at line 151 of file registration_icp.h.
The documentation for this class was generated from the following files: