ICP alogrithm, taking a sequence of clouds and using a map. More...
#include <PointMatcher.h>
Inheritance diagram for PointMatcher< T >::ICPSequence:
Public Member Functions | |
| 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. | |
| TransformationParameters | compute (const DataPoints &cloudIn, const TransformationParameters &initialTransformationParameters) |
| Apply ICP to cloud cloudIn, with initial guess. | |
| bool | hasMap () const |
| Return whether the object currently holds a valid map. | |
| bool | setMap (const DataPoints &map) |
| Set the map using inputCloud. | |
| void | clearMap () |
| Clear the map (reset to same state as after the object is created) | |
| const DataPoints & | getInternalMap () const |
| Return the map, in internal coordinates (fast) | |
| const DataPoints | getMap () const |
| Return the map, in global coordinates (slow) | |
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.
Member Function Documentation
template<typename T >
| PointMatcher< T >::OutlierWeights PointMatcher< T >::OutlierFilters::compute | ( | const DataPoints & | cloudIn, |
| const TransformationParameters & | initialTransformationParameters | ||
| ) |
Apply ICP to cloud cloudIn, with initial guess.
Apply outlier-detection chain.
The documentation for this struct was generated from the following files:
- PointMatcher.h
- ICP.cpp
- OutlierFilter.cpp
