Template Class FastVGICP

Defined in File fast_vgicp.hpp

Inheritance Relationships

Base Type

public fast_gicp::FastGICP< PointSource, PointTarget > (Template Class FastGICP)

Class Documentation

template<typename PointSource, typename PointTarget> class FastVGICP : public fast_gicp::FastGICP<PointSource, PointTarget>

Fast Voxelized GICP algorithm boosted with OpenMP.

Public Types

using Scalar = float

using Matrix4 = typename pcl::Registration<PointSource, PointTarget, Scalar>::Matrix4

using PointCloudSource = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudSource

using PointCloudSourcePtr = typename PointCloudSource::Ptr

using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using PointCloudTarget = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudTarget

using PointCloudTargetPtr = typename PointCloudTarget::Ptr

using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using Ptr = pcl::shared_ptr<FastVGICP<PointSource, PointTarget>>

using ConstPtr = pcl::shared_ptr<const FastVGICP<PointSource, PointTarget>>

Public Functions

FastVGICP()

virtual ~FastVGICP() override

void setResolution(double resolution)

void setVoxelAccumulationMode(VoxelAccumulationMode mode)

void setNeighborSearchMethod(NeighborSearchMethod method)

virtual void swapSourceAndTarget() override

virtual void setInputTarget(const PointCloudTargetConstPtr &cloud) override

Protected Functions

virtual void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override

virtual void update_correspondences(const Eigen::Isometry3d &trans) override

virtual double linearize(const Eigen::Isometry3d &trans, Eigen::Matrix<double, 6, 6> *H = nullptr, Eigen::Matrix<double, 6, 1> *b = nullptr) override

virtual double compute_error(const Eigen::Isometry3d &trans) override

Protected Attributes

double voxel_resolution_

NeighborSearchMethod search_method_

VoxelAccumulationMode voxel_mode_

std::unique_ptr<GaussianVoxelMap<PointTarget>> voxelmap_

std::vector<std::pair<int, GaussianVoxel::Ptr>> voxel_correspondences_

std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> voxel_mahalanobis_