ICP alogrithm, taking a sequence of clouds and using a map. More...
#include <PointMatcher.h>
Inheritance diagram for PointMatcher< T >::ICPSequence:
Public Member Functions | |
| void | clearMap () |
| Clear the map (reset to same state as after the object is created) | |
| TransformationParameters | compute (const DataPoints &cloudIn, const TransformationParameters &initialTransformationParameters) |
| Apply ICP to cloud cloudIn, with initial guess. | |
| const DataPoints & | getInternalMap () const |
| Return the map, in internal coordinates (fast) | |
| const DataPoints | getMap () const |
| Return the map, in global coordinates (slow) | |
| bool | hasMap () const |
| Return whether the object currently holds a valid map. | |
| TransformationParameters | operator() (const DataPoints &cloudIn) |
| Apply ICP to cloud cloudIn, with identity as initial guess. | |
| TransformationParameters | operator() (const DataPoints &cloudIn, const TransformationParameters &initialTransformationParameters) |
| Apply ICP to cloud cloudIn, with initial guess. | |
| bool | setMap (const DataPoints &map) |
| Set the map using inputCloud. | |
Protected Attributes | |
| DataPoints | mapPointCloud |
| point cloud of the map, always in global frame (frame of first point cloud) | |
| TransformationParameters | T_refIn_refMean |
| offset for centered map | |
Detailed Description
template<typename T>
struct PointMatcher< T >::ICPSequence
ICP alogrithm, taking a sequence of clouds and using a map.
Definition at line 647 of file PointMatcher.h.
Member Function Documentation
template<typename T >
| void PointMatcher< T >::ICPSequence::clearMap | ( | ) |
template<typename T >
| PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::compute | ( | const DataPoints & | cloudIn, |
| const TransformationParameters & | initialTransformationParameters | ||
| ) |
template<typename T >
| const PointMatcher< T >::DataPoints & PointMatcher< T >::ICPSequence::getInternalMap | ( | ) | const |
template<typename T >
| const PointMatcher< T >::DataPoints PointMatcher< T >::ICPSequence::getMap | ( | ) | const |
template<typename T >
| bool PointMatcher< T >::ICPSequence::hasMap | ( | ) | const |
template<typename T >
| PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::operator() | ( | const DataPoints & | cloudIn | ) |
template<typename T >
| PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::operator() | ( | const DataPoints & | cloudIn, |
| const TransformationParameters & | initialTransformationParameters | ||
| ) |
template<typename T >
| bool PointMatcher< T >::ICPSequence::setMap | ( | const DataPoints & | map | ) |
Member Data Documentation
template<typename T>
DataPoints PointMatcher< T >::ICPSequence::mapPointCloud [protected] |
point cloud of the map, always in global frame (frame of first point cloud)
Definition at line 665 of file PointMatcher.h.
template<typename T>
TransformationParameters PointMatcher< T >::ICPSequence::T_refIn_refMean [protected] |
offset for centered map
Definition at line 666 of file PointMatcher.h.
The documentation for this struct was generated from the following files: