pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget > Class Template Reference

#include <icp_correspondences_check.h>

Inheritance diagram for pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >:

List of all members.

Public Member Functions
void	estimateRigidTransformationSVD (const PointCloudSource &cloud_src, const PointCloudTarget &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
	IterativeClosestPointCorrespondencesCheck ()
	Empty constructor.
	IterativeClosestPointCorrespondencesCheck (double radius, int max_nn, double epsilon_z, double epsilon_curvature, bool curvature_check)
	Parameterized constructor.
void	setParameters (double radius, int max_nn, double epsilon_z, double epsilon_curvature, bool curvature_check, std::string field)
	A simple method to set the parameters.
virtual	~IterativeClosestPointCorrespondencesCheck ()
	Empty destructor.
Protected Member Functions
virtual void	computeTransformation (PointCloudSource &output)
	Rigid transformation computation method.
Private Types
typedef RegistrationCorrespondencesCheck < PointSource, PointTarget > ::PointCloudSource	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef RegistrationCorrespondencesCheck < PointSource, PointTarget > ::PointCloudTarget	PointCloudTarget
typedef PointIndices::ConstPtr	PointIndicesConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
Private Attributes
bool	curvature_check_
time_t	end
double	epsilon_curvature_
double	epsilon_z_
std::string	field_
int	max_nn_
double	radius_
time_t	start

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Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >

Definition at line 46 of file icp_correspondences_check.h.

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Member Typedef Documentation

template<typename PointSource, typename PointTarget>

typedef RegistrationCorrespondencesCheck<PointSource, PointTarget>::PointCloudSource pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointCloudSource [private]

Reimplemented from pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >.

Definition at line 61 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::ConstPtr pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointCloudSourceConstPtr [private]

Reimplemented from pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >.

Definition at line 63 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::Ptr pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointCloudSourcePtr [private]

Reimplemented from pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >.

Definition at line 62 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

typedef RegistrationCorrespondencesCheck<PointSource, PointTarget>::PointCloudTarget pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointCloudTarget [private]

Reimplemented from pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >.

Definition at line 65 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

typedef PointIndices::ConstPtr pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointIndicesConstPtr [private]

Definition at line 68 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

typedef PointIndices::Ptr pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::PointIndicesPtr [private]

Definition at line 67 of file icp_correspondences_check.h.

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Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>

pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::IterativeClosestPointCorrespondencesCheck

(

)

[inline]

Empty constructor.

Definition at line 79 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::IterativeClosestPointCorrespondencesCheck	(	double	radius,
		int	max_nn,
		double	epsilon_z,
		double	epsilon_curvature,
		bool	curvature_check
	)		[inline]

Parameterized constructor.

Definition at line 81 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

virtual pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::~IterativeClosestPointCorrespondencesCheck

(

)

[inline, virtual]

Empty destructor.

Definition at line 90 of file icp_correspondences_check.h.

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Member Function Documentation

template<typename PointSource, typename PointTarget>

virtual void pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::computeTransformation

(

PointCloudSource &

output

)

[inline, protected, virtual]

Rigid transformation computation method.

Parameters:

output

the transformed input point cloud dataset using the rigid transformation found

Implements pcl::RegistrationCorrespondencesCheck< PointSource, PointTarget >.

Definition at line 98 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

void pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::estimateRigidTransformationSVD	(	const PointCloudSource &	cloud_src,
		const PointCloudTarget &	cloud_tgt,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline]

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters:

cloud_src	the source point cloud dataset
cloud_tgt	the target point cloud dataset
transformation_matrix	the resultant transformation matrix

Definition at line 264 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

void pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::setParameters	(	double	radius,
		int	max_nn,
		double	epsilon_z,
		double	epsilon_curvature,
		bool	curvature_check,
		std::string	field
	)		[inline]

A simple method to set the parameters.

Definition at line 331 of file icp_correspondences_check.h.

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Member Data Documentation

template<typename PointSource, typename PointTarget>

bool pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::curvature_check_ [private]

Definition at line 72 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

time_t pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::end [private]

Definition at line 73 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

double pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::epsilon_curvature_ [private]

Definition at line 70 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

double pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::epsilon_z_ [private]

Definition at line 70 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

std::string pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::field_ [private]

Definition at line 74 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

int pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::max_nn_ [private]

Definition at line 71 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

double pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::radius_ [private]

Definition at line 70 of file icp_correspondences_check.h.

template<typename PointSource, typename PointTarget>

time_t pcl::IterativeClosestPointCorrespondencesCheck< PointSource, PointTarget >::start [private]

Definition at line 73 of file icp_correspondences_check.h.

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The documentation for this class was generated from the following file:

• icp_correspondences_check.h