libpointmatcher 1.0.2
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:
PointMatcher< T >::ICP PointMatcher< T >::ICPChainBase

List of all members.

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 DataPointsgetInternalMap () 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: