#include <pcl/recognition/ransac_based/trimmed_icp.h>
Public Types |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | Matrix4 = typename Eigen::Matrix< Scalar, 4, 4 > |
 Public Types inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar > |
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| using | Ptr = shared_ptr< TransformationEstimationSVD< PointT, PointT, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimationSVD< PointT, PointT, Scalar > > |
| using | Matrix4 = typename TransformationEstimation< PointT, PointT, Scalar >::Matrix4 |
| Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > |
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| using | Matrix4 = Eigen::Matrix< Scalar, 4, 4 > |
| using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > |
Public Member Functions |
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| TrimmedICP () | |
| ~TrimmedICP () override=default | |
| void | init (const PointCloudConstPtr &target) |
| Call this method before calling align(). More... |
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| void | align (const PointCloud &source_points, int num_source_points_to_use, Matrix4 &guess_and_result) const |
| The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method). More... |
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| void | setNewToOldEnergyRatio (float ratio) |
| Public Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar > |
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| TransformationEstimationSVD (bool use_umeyama=true) | |
| Constructor. More... |
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| ~TransformationEstimationSVD () override=default | |
| void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... |
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| void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... |
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| void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... |
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| void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... |
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| Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > |
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| TransformationEstimation ()=default | |
| virtual | ~TransformationEstimation ()=default |
Static Protected Member Functions |
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| static bool | compareCorrespondences (const pcl::Correspondence &a, const pcl::Correspondence &b) |
Protected Attributes |
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| PointCloudConstPtr | target_points_ |
| pcl::KdTreeFLANN< PointT > | kdtree_ |
| float | new_to_old_energy_ratio_ |
| Protected Attributes inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar > |
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| bool | use_umeyama_ |
Additional Inherited Members |
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| Protected Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar > |
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| void | estimateRigidTransformation (ConstCloudIterator< PointT > &source_it, ConstCloudIterator< PointT > &target_it, Matrix4 &transformation_matrix) const |
| Estimate a rigid rotation transformation between a source and a target. More... |
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| virtual void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
| Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src. More... |
|
Detailed Description
template<typename PointT, typename Scalar>
class pcl::recognition::TrimmedICP< PointT, Scalar >
Definition at line 62 of file trimmed_icp.h.
Member Typedef Documentation
Matrix4
template<typename PointT , typename Scalar >
| using pcl::recognition::TrimmedICP< PointT, Scalar >::Matrix4 = typename Eigen::Matrix<Scalar, 4, 4> |
Definition at line 68 of file trimmed_icp.h.
PointCloud
template<typename PointT , typename Scalar >
| using pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 65 of file trimmed_icp.h.
PointCloudConstPtr
template<typename PointT , typename Scalar >
| using pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 66 of file trimmed_icp.h.
Constructor & Destructor Documentation
TrimmedICP()
template<typename PointT , typename Scalar >
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inline |
Definition at line 71 of file trimmed_icp.h.
~TrimmedICP()
template<typename PointT , typename Scalar >
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overridedefault |
Member Function Documentation
align()
template<typename PointT , typename Scalar >
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inline |
The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method).
- Parameters
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[in] source_points is the point cloud to be registered to the target. [in] num_source_points_to_use gives the number of closest source points taken into account for registration. By closest source points we mean the source points closest to the target. These points are computed anew at each iteration. [in,out] guess_and_result is the estimated rigid transform. IMPORTANT: this matrix is also taken as the initial guess for the alignment. If there is no guess, set the matrix to identity!
Definition at line 98 of file trimmed_icp.h.
References pcl::recognition::TrimmedICP< PointT, Scalar >::compareCorrespondences(), pcl::PointCloud< PointT >::size(), and pcl::recognition::aux::transform().
compareCorrespondences()
template<typename PointT , typename Scalar >
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inlinestaticprotected |
Definition at line 172 of file trimmed_icp.h.
References pcl::Correspondence::distance.
Referenced by pcl::recognition::TrimmedICP< PointT, Scalar >::align().
init()
template<typename PointT , typename Scalar >
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inline |
Call this method before calling align().
- Parameters
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[in] target is target point cloud. The method builds a kd-tree based on 'target' for performing fast closest point search. The source point cloud will be registered to 'target' (see align() method).
Definition at line 83 of file trimmed_icp.h.
setNewToOldEnergyRatio()
template<typename PointT , typename Scalar >
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inline |
Definition at line 162 of file trimmed_icp.h.
Member Data Documentation
kdtree_
template<typename PointT , typename Scalar >
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protected |
Definition at line 179 of file trimmed_icp.h.
new_to_old_energy_ratio_
template<typename PointT , typename Scalar >
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protected |
Definition at line 180 of file trimmed_icp.h.
target_points_
template<typename PointT , typename Scalar >
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protected |
Definition at line 178 of file trimmed_icp.h.
The documentation for this class was generated from the following file:
- pcl/recognition/ransac_based/trimmed_icp.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1recognition_1_1_trimmed_i_c_p.html