Public Member Functions | Protected Member Functions | Protected Attributes
PointMatcher< T >::ICP Struct Reference

ICP algorithm. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICP:
Inheritance graph
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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 DataPointsgetReadingFiltered () 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

Detailed Description

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

ICP algorithm.

Definition at line 691 of file PointMatcher.h.


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.


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.


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


libpointmatcher
Author(s):
autogenerated on Thu Jun 20 2019 19:51:33