ICP alogrithm, taking a sequence of clouds and using a map. More...
#include <PointMatcher.h>
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 |
ICP alogrithm, taking a sequence of clouds and using a map.