#include <icp.h>
Public Member Functions | |
bool | correction () |
bool | end_of_iteration (const vector< bool > &result) |
Icp (umap &m1, umap &m2, pcl::PointCloud< pcl::PointXYZ > &cloud, double voxel_size) | |
Eigen::Matrix4f | icpFit () |
bool | is_Fit (double angle_x, double angle_y, double angle_z, Vector3d shift_t) |
void | least_Square () |
bool | linear_System () |
bool | voxel_Merge (unordered_map_voxel &v1, unordered_map_voxel &v2) |
~Icp () | |
Private Attributes | |
bool | _is_Fit |
pcl::PointCloud< pcl::PointXYZ > | cloud_source |
bool | first_iter |
double | jd_x |
double | jd_y |
double | jd_z |
umap & | m_1 |
umap | m_1_copy |
umap & | m_2 |
vector< LS_Param > | mat_param |
Matrix3d | R |
std::ofstream | RT |
Vector3d | t |
LS_Param | temp_ls |
double | voxel_size |
bool Icp::correction | ( | ) |
bool Icp::end_of_iteration | ( | const vector< bool > & | result | ) |
Eigen::Matrix4f Icp::icpFit | ( | ) |
bool Icp::is_Fit | ( | double | angle_x, |
double | angle_y, | ||
double | angle_z, | ||
Vector3d | shift_t | ||
) |
void Icp::least_Square | ( | ) |
bool Icp::linear_System | ( | ) |
bool Icp::voxel_Merge | ( | unordered_map_voxel & | v1, |
unordered_map_voxel & | v2 | ||
) |
bool Icp::_is_Fit [private] |
pcl::PointCloud<pcl::PointXYZ> Icp::cloud_source [private] |
bool Icp::first_iter [private] |
umap Icp::m_1_copy [private] |
vector<LS_Param> Icp::mat_param [private] |
LS_Param Icp::temp_ls [private] |
double Icp::voxel_size [private] |