#include "rtabmap/core/util3d_registration.h"#include "rtabmap/core/util3d_transforms.h"#include "rtabmap/core/util3d_filtering.h"#include "rtabmap/core/util3d.h"#include <pcl/registration/icp.h>#include <pcl/registration/transformation_estimation_2D.h>#include <pcl/registration/transformation_estimation_svd.h>#include <pcl/sample_consensus/sac_model_registration.h>#include <pcl/sample_consensus/ransac.h>#include <pcl/common/common.h>#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UMath.h>
Include dependency graph for util3d_registration.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap | |
| rtabmap::util3d | |
Functions | |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal) |
| template<typename PointNormalT > | |
| void | rtabmap::util3d::computeVarianceAndCorrespondencesImpl (const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloudA, const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal) |
| template<typename PointT > | |
| void | rtabmap::util3d::computeVarianceAndCorrespondencesImpl (const typename pcl::PointCloud< PointT >::ConstPtr &cloudA, const typename pcl::PointCloud< PointT >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZI > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| template<typename PointT > | |
| Transform | rtabmap::util3d::icpImpl (const typename pcl::PointCloud< PointT >::ConstPtr &cloud_source, const typename pcl::PointCloud< PointT >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< PointT > &cloud_source_registered, float epsilon, bool icp2D) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZINormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| template<typename PointNormalT > | |
| Transform | rtabmap::util3d::icpPointToPlaneImpl (const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloud_source, const typename pcl::PointCloud< PointNormalT >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< PointNormalT > &cloud_source_registered, float epsilon, bool icp2D) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2) |