Class InformationMatrixCalculator

• Defined in File information_matrix_calculator.hpp

Class Documentation

class InformationMatrixCalculator

Public Types

using PointT = pcl::PointXYZI

Public Functions

inline InformationMatrixCalculator()

InformationMatrixCalculator(const rclcpp::Node::SharedPtr node)

~InformationMatrixCalculator()

template<typename ParamServer>
inline void load(ParamServer &params)

Parameters:

params –

Eigen::MatrixXd calc_information_matrix(const pcl::PointCloud<PointT>::ConstPtr &cloud1, const pcl::PointCloud<PointT>::ConstPtr &cloud2, const Eigen::Isometry3d &relpose) const

Parameters:

• cloud1 –

• cloud2 –

• relpose –

Returns:

Information matrix

Public Static Functions

static double calc_fitness_score(const pcl::PointCloud<PointT>::ConstPtr &cloud1, const pcl::PointCloud<PointT>::ConstPtr &cloud2, const Eigen::Isometry3d &relpose, double max_range = std::numeric_limits<double>::max())

Parameters:

• cloud1 –

• cloud2 –

• relpose –

• max_range –

Returns: