#include <registration_info.h>
Classes | |
| struct | SORT_S |
Public Member Functions | |
| virtual bool | compute () |
| int | getBadCounter () const |
| void | getClouds (pcl::PointCloud< Point > &tmp_pc_old, pcl::PointCloud< Point > &tmp_pc_new) |
| debug purpose: get HIRN points H+ and H- | |
| pcl::PointCloud< Point > | getLastInput () |
| inserted input (debug) | |
| pcl::PointCloud< Point > | getLastInput2 () |
| reprojected input (debug) | |
| virtual boost::shared_ptr < pcl::PointCloud< Point > > | getMap () |
| map is not necessarily implemented | |
| virtual boost::shared_ptr < const pcl::PointCloud < pcl::PointXYZRGB > > | getMarkers2 () |
| pcl::PointCloud< Point > & | getSource () |
| pcl::PointCloud< Point > & | getTarget () |
| Registration_Infobased () | |
| void | reset () |
| void | SetAlwaysRelevantChanges (const bool b) |
| if pose information is used, the changes are always relevant! | |
| void | setCheckBySamples (const bool b) |
| check plausibility of result (only with Kinect) | |
| void | setKinectParameters (const float f, const float dx, const float dy) |
| setting up reprojection parameters, if not set it will be calculated (at least tried to) | |
| void | setMaxAngularDistance (const float f) |
| void | setMaxInfo (const int f) |
| void | setMaxTranslationDistance (const float f) |
| void | setMinChanges (const int f) |
| void | setMinInfo (const int f) |
| virtual void | setOdometry (const Eigen::Matrix4f &odometry) |
| change transformation matrix (for example if odometry results are known) | |
| void | setThresholdDiff (const float f) |
| void | setThresholdStep (const float f) |
| virtual void | setTransformation (const Eigen::Matrix4f &mat) |
| void | setUseICP (const bool b) |
| always use ICP instead of HIRN-backend | |
| virtual | ~Registration_Infobased () |
Private Member Functions | |
| bool | checkSamples (const Eigen::Matrix4f &T, int *bad_out=NULL) |
| virtual bool | compute_corrospondences () |
| virtual bool | compute_features () |
| virtual bool | compute_transformation () |
| int | getI (const int ind, const pcl::PointCloud< Point > &pc) |
| void | getKinectParameters () |
| float | getMaxDiff (const pcl::PointCloud< Point > &pc, const int ind) |
| float | getMaxDiff2 (const pcl::PointCloud< Point > &pc, const int ind, const pcl::PointCloud< Point > &pc2, int &mi) |
| void | reproject () |
Private Attributes | |
| bool | always_relevant_changes_ |
| int | bad_counter_ |
| bool | check_samples_ |
| check result with raycasted samples, forcing well aligned results for mapping (only with Kinect!!!) | |
| unsigned char * | depth_map |
| binary map of interesting points | |
| int | failed_ |
| std::vector< int > | indices_neg2 |
| std::vector< int > | indices_pos2 |
| indices of HIRN points | |
| float | kinect_dx_ |
| float | kinect_dy_ |
| float | kinect_f_ |
| boost::shared_ptr< const pcl::PointCloud< Point > > | last_input2_ |
| boost::shared_ptr< const pcl::PointCloud< Point > > | last_input_ |
| frame to register against | |
| pcl::PointCloud< pcl::PointXYZRGB > | markers_ |
| int | max_info_ |
| int | min_changes_ |
| int | min_info_ |
| bool | odo_is_good_ |
| Eigen::Matrix4f | odometry_ |
| Eigen::Matrix4f | odometry_last_ |
| pcl::PointCloud< Point > | register_ |
| float | rmax_ |
| max. rotation speed between two frames | |
| pcl::PointCloud< Point > | source |
| pcl::PointCloud< Point > | source2_ |
| debug output | |
| int | standing_ |
| pcl::PointCloud< Point > | target |
| pcl::PointCloud< Point > | target2_ |
| float | threshold_diff_ |
| see thesis | |
| float | threshold_step_ |
| float | tmax_ |
| max. translation speed between two frames | |
| bool | use_icp_ |
| use icp instead of global optimation | |
| bool | use_odometry_ |
Detailed Description
template<typename Point>
class cob_3d_registration::Registration_Infobased< Point >
registration based on HIRN implementation after diploma thesis of Joshua Hampp using points of high interest for registration of 3d data input data have to stay within a defined movement speed using data without color is faster
Definition at line 87 of file registration_info.h.
Constructor & Destructor Documentation
| cob_3d_registration::Registration_Infobased< Point >::Registration_Infobased | ( | ) | [inline] |
Definition at line 133 of file registration_info.h.
| virtual cob_3d_registration::Registration_Infobased< Point >::~Registration_Infobased | ( | ) | [inline, virtual] |
Definition at line 171 of file registration_info.h.
Member Function Documentation
| bool cob_3d_registration::Registration_Infobased< Point >::checkSamples | ( | const Eigen::Matrix4f & | T, |
| int * | bad_out = NULL |
||
| ) | [private] |
Definition at line 500 of file registration_info.hpp.
| virtual bool cob_3d_registration::Registration_Infobased< Point >::compute | ( | ) | [inline, virtual] |
compute transformation
- Returns:
- true for success
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 196 of file registration_info.h.
| bool cob_3d_registration::Registration_Infobased< Point >::compute_corrospondences | ( | ) | [private, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 216 of file registration_info.hpp.
| bool cob_3d_registration::Registration_Infobased< Point >::compute_features | ( | ) | [private, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 72 of file registration_info.hpp.
| bool cob_3d_registration::Registration_Infobased< Point >::compute_transformation | ( | ) | [private, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 222 of file registration_info.hpp.
| int cob_3d_registration::Registration_Infobased< Point >::getBadCounter | ( | ) | const [inline] |
Definition at line 146 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::getClouds | ( | pcl::PointCloud< Point > & | tmp_pc_old, |
| pcl::PointCloud< Point > & | tmp_pc_new | ||
| ) |
debug purpose: get HIRN points H+ and H-
Definition at line 541 of file registration_info.hpp.
| int cob_3d_registration::Registration_Infobased< Point >::getI | ( | const int | ind, |
| const pcl::PointCloud< Point > & | pc | ||
| ) | [inline, private] |
Definition at line 418 of file registration_info.hpp.
| void cob_3d_registration::Registration_Infobased< Point >::getKinectParameters | ( | ) | [private] |
Definition at line 437 of file registration_info.hpp.
| pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::getLastInput | ( | ) | [inline] |
inserted input (debug)
Definition at line 178 of file registration_info.h.
| pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::getLastInput2 | ( | ) | [inline] |
reprojected input (debug)
Definition at line 180 of file registration_info.h.
| virtual boost::shared_ptr<pcl::PointCloud<Point> > cob_3d_registration::Registration_Infobased< Point >::getMap | ( | ) | [inline, virtual] |
map is not necessarily implemented
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 175 of file registration_info.h.
| virtual boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> > cob_3d_registration::Registration_Infobased< Point >::getMarkers2 | ( | ) | [inline, virtual] |
Definition at line 185 of file registration_info.h.
| float cob_3d_registration::Registration_Infobased< Point >::getMaxDiff | ( | const pcl::PointCloud< Point > & | pc, |
| const int | ind | ||
| ) | [inline, private] |
Definition at line 359 of file registration_info.hpp.
| float cob_3d_registration::Registration_Infobased< Point >::getMaxDiff2 | ( | const pcl::PointCloud< Point > & | pc, |
| const int | ind, | ||
| const pcl::PointCloud< Point > & | pc2, | ||
| int & | mi | ||
| ) | [inline, private] |
Definition at line 384 of file registration_info.hpp.
| pcl::PointCloud<Point>& cob_3d_registration::Registration_Infobased< Point >::getSource | ( | ) | [inline] |
Definition at line 182 of file registration_info.h.
| pcl::PointCloud<Point>& cob_3d_registration::Registration_Infobased< Point >::getTarget | ( | ) | [inline] |
Definition at line 184 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::reproject | ( | ) | [private] |
Definition at line 560 of file registration_info.hpp.
| void cob_3d_registration::Registration_Infobased< Point >::reset | ( | ) | [inline] |
Definition at line 147 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::SetAlwaysRelevantChanges | ( | const bool | b | ) | [inline] |
if pose information is used, the changes are always relevant!
Definition at line 208 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setCheckBySamples | ( | const bool | b | ) | [inline] |
check plausibility of result (only with Kinect)
Definition at line 157 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setKinectParameters | ( | const float | f, |
| const float | dx, | ||
| const float | dy | ||
| ) | [inline] |
setting up reprojection parameters, if not set it will be calculated (at least tried to)
Definition at line 162 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setMaxAngularDistance | ( | const float | f | ) | [inline] |
Definition at line 154 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setMaxInfo | ( | const int | f | ) | [inline] |
Definition at line 153 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setMaxTranslationDistance | ( | const float | f | ) | [inline] |
Definition at line 155 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setMinChanges | ( | const int | f | ) | [inline] |
Definition at line 151 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setMinInfo | ( | const int | f | ) | [inline] |
Definition at line 152 of file registration_info.h.
| virtual void cob_3d_registration::Registration_Infobased< Point >::setOdometry | ( | const Eigen::Matrix4f & | odometry | ) | [inline, virtual] |
change transformation matrix (for example if odometry results are known)
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 188 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setThresholdDiff | ( | const float | f | ) | [inline] |
Definition at line 149 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setThresholdStep | ( | const float | f | ) | [inline] |
Definition at line 150 of file registration_info.h.
| virtual void cob_3d_registration::Registration_Infobased< Point >::setTransformation | ( | const Eigen::Matrix4f & | mat | ) | [inline, virtual] |
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 210 of file registration_info.h.
| void cob_3d_registration::Registration_Infobased< Point >::setUseICP | ( | const bool | b | ) | [inline] |
always use ICP instead of HIRN-backend
for kinect only
Definition at line 159 of file registration_info.h.
Member Data Documentation
bool cob_3d_registration::Registration_Infobased< Point >::always_relevant_changes_ [private] |
Definition at line 217 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::bad_counter_ [private] |
Definition at line 131 of file registration_info.h.
bool cob_3d_registration::Registration_Infobased< Point >::check_samples_ [private] |
check result with raycasted samples, forcing well aligned results for mapping (only with Kinect!!!)
Definition at line 117 of file registration_info.h.
unsigned char* cob_3d_registration::Registration_Infobased< Point >::depth_map [private] |
binary map of interesting points
Definition at line 101 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::failed_ [private] |
Definition at line 216 of file registration_info.h.
std::vector<int> cob_3d_registration::Registration_Infobased< Point >::indices_neg2 [private] |
Definition at line 107 of file registration_info.h.
std::vector<int> cob_3d_registration::Registration_Infobased< Point >::indices_pos2 [private] |
indices of HIRN points
Definition at line 107 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::kinect_dx_ [private] |
Definition at line 218 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::kinect_dy_ [private] |
Definition at line 218 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::kinect_f_ [private] |
Definition at line 218 of file registration_info.h.
boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::Registration_Infobased< Point >::last_input2_ [private] |
Definition at line 104 of file registration_info.h.
boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::Registration_Infobased< Point >::last_input_ [private] |
frame to register against
Definition at line 104 of file registration_info.h.
pcl::PointCloud<pcl::PointXYZRGB> cob_3d_registration::Registration_Infobased< Point >::markers_ [private] |
Definition at line 214 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::max_info_ [private] |
Definition at line 123 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::min_changes_ [private] |
Definition at line 123 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::min_info_ [private] |
Definition at line 123 of file registration_info.h.
bool cob_3d_registration::Registration_Infobased< Point >::odo_is_good_ [private] |
Definition at line 217 of file registration_info.h.
Eigen::Matrix4f cob_3d_registration::Registration_Infobased< Point >::odometry_ [private] |
Definition at line 215 of file registration_info.h.
Eigen::Matrix4f cob_3d_registration::Registration_Infobased< Point >::odometry_last_ [private] |
Definition at line 215 of file registration_info.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::register_ [private] |
Definition at line 213 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::rmax_ [private] |
max. rotation speed between two frames
Definition at line 129 of file registration_info.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::source [private] |
Definition at line 108 of file registration_info.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::source2_ [private] |
debug output
Definition at line 111 of file registration_info.h.
int cob_3d_registration::Registration_Infobased< Point >::standing_ [private] |
Definition at line 216 of file registration_info.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::target [private] |
Definition at line 108 of file registration_info.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_Infobased< Point >::target2_ [private] |
Definition at line 111 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::threshold_diff_ [private] |
see thesis
Definition at line 122 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::threshold_step_ [private] |
Definition at line 122 of file registration_info.h.
float cob_3d_registration::Registration_Infobased< Point >::tmax_ [private] |
max. translation speed between two frames
Definition at line 126 of file registration_info.h.
bool cob_3d_registration::Registration_Infobased< Point >::use_icp_ [private] |
use icp instead of global optimation
Definition at line 114 of file registration_info.h.
bool cob_3d_registration::Registration_Infobased< Point >::use_odometry_ [private] |
Definition at line 217 of file registration_info.h.
The documentation for this class was generated from the following files: