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

ICP alogrithm, taking a sequence of clouds and using a map. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPSequence:
Inheritance graph
[legend]

List of all members.

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 DataPointsgetInternalMap () 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 ( )

Clear the map (reset to same state as after the object is created)

Definition at line 464 of file ICP.cpp.

template<typename T >
PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::compute ( const DataPoints cloudIn,
const TransformationParameters initialTransformationParameters 
)

Apply ICP to cloud cloudIn, with initial guess.

Definition at line 509 of file ICP.cpp.

template<typename T >
const PointMatcher< T >::DataPoints & PointMatcher< T >::ICPSequence::getInternalMap ( ) const

Return the map, in internal coordinates (fast)

Definition at line 484 of file ICP.cpp.

template<typename T >
const PointMatcher< T >::DataPoints PointMatcher< T >::ICPSequence::getMap ( ) const

Return the map, in global coordinates (slow)

Definition at line 473 of file ICP.cpp.

template<typename T >
bool PointMatcher< T >::ICPSequence::hasMap ( ) const

Return whether the object currently holds a valid map.

Definition at line 413 of file ICP.cpp.

template<typename T >
PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::operator() ( const DataPoints cloudIn)

Apply ICP to cloud cloudIn, with identity as initial guess.

Definition at line 491 of file ICP.cpp.

template<typename T >
PointMatcher< T >::TransformationParameters PointMatcher< T >::ICPSequence::operator() ( const DataPoints cloudIn,
const TransformationParameters initialTransformationParameters 
)

Apply ICP to cloud cloudIn, with initial guess.

Definition at line 501 of file ICP.cpp.

template<typename T >
bool PointMatcher< T >::ICPSequence::setMap ( const DataPoints map)

Set the map using inputCloud.

Definition at line 420 of file ICP.cpp.


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:


upstream_src
Author(s):
autogenerated on Mon Oct 6 2014 10:27:42