PointMatcher< T >::ICP Struct Reference

ICP algorithm. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICP:

List of all members.

Public Member Functions
TransformationParameters	compute (const DataPoints &readingIn, const DataPoints &referenceIn, const TransformationParameters &initialTransformationParameters)
	Perform ICP from initial guess and return optimised transformation matrix.
const DataPoints &	getReadingFiltered () const
	Return the filtered point cloud reading used in the ICP chain.
TransformationParameters	operator() (const DataPoints &readingIn, const DataPoints &referenceIn)
	Perform ICP and return optimised transformation matrix.
TransformationParameters	operator() (const DataPoints &readingIn, const DataPoints &referenceIn, const TransformationParameters &initialTransformationParameters)
	Perform ICP from initial guess and return optimised transformation matrix.
Protected Member Functions
TransformationParameters	computeWithTransformedReference (const DataPoints &readingIn, const DataPoints &reference, const TransformationParameters &T_refIn_refMean, const TransformationParameters &initialTransformationParameters)
	Perferm ICP using an already-transformed reference and with an already-initialized matcher.
Protected Attributes
DataPoints	readingFiltered
	reading point cloud after the filters were applied

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Detailed Description

template<typename T>
struct PointMatcher< T >::ICP

ICP algorithm.

Definition at line 691 of file PointMatcher.h.

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Member Function Documentation

template<typename T >

PointMatcher< T >::TransformationParameters PointMatcher< T >::ICP::compute	(	const DataPoints &	readingIn,
		const DataPoints &	referenceIn,
		const TransformationParameters &	initialTransformationParameters
	)

Perform ICP from initial guess and return optimised transformation matrix.

Definition at line 265 of file ICP.cpp.

template<typename T >

PointMatcher< T >::TransformationParameters PointMatcher< T >::ICP::computeWithTransformedReference	(	const DataPoints &	readingIn,
		const DataPoints &	reference,
		const TransformationParameters &	T_refIn_refMean,
		const TransformationParameters &	initialTransformationParameters
	)		[protected]

Perferm ICP using an already-transformed reference and with an already-initialized matcher.

Definition at line 317 of file ICP.cpp.

template<typename T>

const DataPoints& PointMatcher< T >::ICP::getReadingFiltered

(

)

const [inline]

Return the filtered point cloud reading used in the ICP chain.

Definition at line 708 of file PointMatcher.h.

template<typename T >

PointMatcher< T >::TransformationParameters PointMatcher< T >::ICP::operator()	(	const DataPoints &	readingIn,
		const DataPoints &	referenceIn
	)

Perform ICP and return optimised transformation matrix.

Definition at line 244 of file ICP.cpp.

template<typename T >

PointMatcher< T >::TransformationParameters PointMatcher< T >::ICP::operator()	(	const DataPoints &	readingIn,
		const DataPoints &	referenceIn,
		const TransformationParameters &	initialTransformationParameters
	)

Perform ICP from initial guess and return optimised transformation matrix.

Definition at line 255 of file ICP.cpp.

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Member Data Documentation

template<typename T>

DataPoints PointMatcher< T >::ICP::readingFiltered [protected]

reading point cloud after the filters were applied

Definition at line 717 of file PointMatcher.h.

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The documentation for this struct was generated from the following files:

• PointMatcher.h
• ICP.cpp