util3d_registration.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef UTIL3D_REGISTRATION_H_
29 #define UTIL3D_REGISTRATION_H_
30 
31 #include <rtabmap/core/RtabmapExp.h>
32 
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <rtabmap/core/Transform.h>
36 #include <opencv2/core/core.hpp>
37 
38 namespace rtabmap
39 {
40 
41 namespace util3d
42 {
43 
44 int RTABMAP_EXP getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
45  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
46  float maxDistance);
47 
48 Transform RTABMAP_EXP transformFromXYZCorrespondencesSVD(
49  const pcl::PointCloud<pcl::PointXYZ> & cloud1,
50  const pcl::PointCloud<pcl::PointXYZ> & cloud2);
51 
52 Transform RTABMAP_EXP transformFromXYZCorrespondences(
53  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
54  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
55  double inlierThreshold = 0.02,
56  int iterations = 100,
57  int refineModelIterations = 10,
58  double refineModelSigma = 3.0,
59  std::vector<int> * inliers = 0,
60  cv::Mat * variance = 0);
61 
62 void RTABMAP_EXP computeVarianceAndCorrespondences(
63  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
64  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
65  double maxCorrespondenceDistance,
66  double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
67  double & variance,
68  int & correspondencesOut);
69 void RTABMAP_EXP computeVarianceAndCorrespondences(
70  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
71  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
72  double maxCorrespondenceDistance,
73  double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
74  double & variance,
75  int & correspondencesOut);
76 void RTABMAP_EXP computeVarianceAndCorrespondences(
77  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
78  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
79  double maxCorrespondenceDistance,
80  double & variance,
81  int & correspondencesOut);
82 void RTABMAP_EXP computeVarianceAndCorrespondences(
83  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
84  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
85  double maxCorrespondenceDistance,
86  double & variance,
87  int & correspondencesOut);
88 
89 Transform RTABMAP_EXP icp(
90  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
91  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
92  double maxCorrespondenceDistance,
93  int maximumIterations,
94  bool & hasConverged,
95  pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
96  float epsilon = 0.0f,
97  bool icp2D = false);
98 Transform RTABMAP_EXP icp(
99  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
100  const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
101  double maxCorrespondenceDistance,
102  int maximumIterations,
103  bool & hasConverged,
104  pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
105  float epsilon = 0.0f,
106  bool icp2D = false);
107 
108 Transform RTABMAP_EXP icpPointToPlane(
109  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
110  const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
111  double maxCorrespondenceDistance,
112  int maximumIterations,
113  bool & hasConverged,
114  pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
115  float epsilon = 0.0f,
116  bool icp2D = false);
117 Transform RTABMAP_EXP icpPointToPlane(
118  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
119  const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
120  double maxCorrespondenceDistance,
121  int maximumIterations,
122  bool & hasConverged,
123  pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
124  float epsilon = 0.0f,
125  bool icp2D = false);
126 
127 } // namespace util3d
128 } // namespace rtabmap
129 
130 #endif /* UTIL3D_REGISTRATION_H_ */
rtabmap::util3d::transformFromXYZCorrespondencesSVD
Transform RTABMAP_EXP transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
Definition: util3d_registration.cpp:50
rtabmap::util3d::icpPointToPlane
Transform RTABMAP_EXP icpPointToPlane(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
Definition: util3d_registration.cpp:489
rtabmap::util3d::computeVarianceAndCorrespondences
void RTABMAP_EXP computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut)
Definition: util3d_registration.cpp:302
rtabmap::util3d::transformFromXYZCorrespondences
Transform RTABMAP_EXP transformFromXYZCorrespondences(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
Definition: util3d_registration.cpp:63
RTABMAP_EXP
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
rtabmap::util3d::icp
Transform RTABMAP_EXP icp(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
Definition: util3d_registration.cpp:418
rtabmap::util3d::getCorrespondencesCount
int RTABMAP_EXP getCorrespondencesCount(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance)
Definition: util3d_correspondences.cpp:276

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:58