W3cubDocs
/PointCloudLibraryJointIterativeClosestPoint extends ICP to multiple frames which share the same transform. More...
#include <pcl/registration/joint_icp.h>
Public Member Functions | |
| JointIterativeClosestPoint () | |
| Empty constructor. More... |
|
| ~JointIterativeClosestPoint () | |
| Empty destructor. More... |
|
| void | setInputSource (const PointCloudSourceConstPtr &) override |
| Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... |
|
| void | addInputSource (const PointCloudSourceConstPtr &cloud) |
| Add a source cloud to the joint solver. More... |
|
| void | setInputTarget (const PointCloudTargetConstPtr &) override |
| Provide a pointer to the input target (e.g., the point cloud that we want to align to the target) More... |
|
| void | addInputTarget (const PointCloudTargetConstPtr &cloud) |
| Add a target cloud to the joint solver. More... |
|
| void | addCorrespondenceEstimation (CorrespondenceEstimationPtr ce) |
| Add a manual correspondence estimator If you choose to do this, you must add one for each input source / target pair. More... |
|
| void | clearInputSources () |
| Reset my list of input sources. More... |
|
| void | clearInputTargets () |
| Reset my list of input targets. More... |
|
| void | clearCorrespondenceEstimations () |
| Reset my list of correspondence estimation methods. More... |
|
 Public Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, float >
| |
| IterativeClosestPoint () | |
| Empty constructor. More... |
|
| IterativeClosestPoint (const IterativeClosestPoint &)=delete | |
Due to convergence_criteria_ holding references to the class members, it is tricky to correctly implement its copy and move operations correctly. More... |
|
| IterativeClosestPoint (IterativeClosestPoint &&)=delete | |
| IterativeClosestPoint & | operator= (const IterativeClosestPoint &)=delete |
| IterativeClosestPoint & | operator= (IterativeClosestPoint &&)=delete |
| ~IterativeClosestPoint () | |
| Empty destructor. More... |
|
| pcl::registration::DefaultConvergenceCriteria< float >::Ptr | getConvergeCriteria () |
| Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class. More... |
|
| void | setInputSource (const PointCloudSourceConstPtr &cloud) override |
| Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More... |
|
| void | setInputTarget (const PointCloudTargetConstPtr &cloud) override |
| Provide a pointer to the input target (e.g., the point cloud that we want to align to the target) More... |
|
| void | setUseReciprocalCorrespondences (bool use_reciprocal_correspondence) |
| Set whether to use reciprocal correspondence or not. More... |
|
| bool | getUseReciprocalCorrespondences () const |
| Obtain whether reciprocal correspondence are used or not. More... |
|
|
Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, float >
| |
| Registration () | |
| Empty constructor. More... |
|
| ~Registration () | |
| destructor. More... |
|
| void | setTransformationEstimation (const TransformationEstimationPtr &te) |
| Provide a pointer to the transformation estimation object. More... |
|
| void | setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) |
| Provide a pointer to the correspondence estimation object. More... |
|
| const PointCloudSourceConstPtr | getInputSource () |
| Get a pointer to the input point cloud dataset target. More... |
|
| const PointCloudTargetConstPtr | getInputTarget () |
| Get a pointer to the input point cloud dataset target. More... |
|
| void | setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false) |
| Provide a pointer to the search object used to find correspondences in the target cloud. More... |
|
| KdTreePtr | getSearchMethodTarget () const |
| Get a pointer to the search method used to find correspondences in the target cloud. More... |
|
| void | setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
| Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More... |
|
| KdTreeReciprocalPtr | getSearchMethodSource () const |
| Get a pointer to the search method used to find correspondences in the source cloud. More... |
|
| Matrix4 | getFinalTransformation () |
| Get the final transformation matrix estimated by the registration method. More... |
|
| Matrix4 | getLastIncrementalTransformation () |
| Get the last incremental transformation matrix estimated by the registration method. More... |
|
| void | setMaximumIterations (int nr_iterations) |
| Set the maximum number of iterations the internal optimization should run for. More... |
|
| int | getMaximumIterations () |
| Get the maximum number of iterations the internal optimization should run for, as set by the user. More... |
|
| void | setRANSACIterations (int ransac_iterations) |
| Set the number of iterations RANSAC should run for. More... |
|
| double | getRANSACIterations () |
| Get the number of iterations RANSAC should run for, as set by the user. More... |
|
| void | setRANSACOutlierRejectionThreshold (double inlier_threshold) |
| Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More... |
|
| double | getRANSACOutlierRejectionThreshold () |
| Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More... |
|
| void | setMaxCorrespondenceDistance (double distance_threshold) |
| Set the maximum distance threshold between two correspondent points in source <-> target. More... |
|
| double | getMaxCorrespondenceDistance () |
| Get the maximum distance threshold between two correspondent points in source <-> target. More... |
|
| void | setTransformationEpsilon (double epsilon) |
| Set the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More... |
|
| double | getTransformationEpsilon () |
| Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More... |
|
| void | setTransformationRotationEpsilon (double epsilon) |
| Set the transformation rotation epsilon (maximum allowable rotation difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More... |
|
| double | getTransformationRotationEpsilon () |
| Get the transformation rotation epsilon (maximum allowable difference between two consecutive transformations) as set by the user (epsilon is the cos(angle) in a axis-angle representation). More... |
|
| void | setEuclideanFitnessEpsilon (double epsilon) |
| Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More... |
|
| double | getEuclideanFitnessEpsilon () |
| Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More... |
|
| void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
| Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More... |
|
| bool | registerVisualizationCallback (std::function< UpdateVisualizerCallbackSignature > &visualizerCallback) |
| Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More... |
|
| double | getFitnessScore (double max_range=std::numeric_limits< double >::max()) |
| Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) More... |
|
| double | getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b) |
| Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More... |
|
| bool | hasConverged () const |
| Return the state of convergence after the last align run. More... |
|
| void | align (PointCloudSource &output) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... |
|
| void | align (PointCloudSource &output, const Matrix4 &guess) |
| Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More... |
|
| const std::string & | getClassName () const |
| Abstract class get name method. More... |
|
| bool | initCompute () |
| Internal computation initialization. More... |
|
| bool | initComputeReciprocal () |
| Internal computation when reciprocal lookup is needed. More... |
|
| void | addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector) |
| Add a new correspondence rejector to the list. More... |
|
| std::vector< CorrespondenceRejectorPtr > | getCorrespondenceRejectors () |
| Get the list of correspondence rejectors. More... |
|
| bool | removeCorrespondenceRejector (unsigned int i) |
| Remove the i-th correspondence rejector in the list. More... |
|
| void | clearCorrespondenceRejectors () |
| Clear the list of correspondence rejectors. More... |
|
|
Public Member Functions inherited from pcl::PCLBase< PointSource >
| |
| PCLBase () | |
| Empty constructor. More... |
|
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
|
| virtual | ~PCLBase ()=default |
| Destructor. More... |
|
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
|
| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
|
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
|
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
|
| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
|
| const PointSource & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
|
Protected Member Functions | |
| void | computeTransformation (PointCloudSource &output, const Matrix4 &guess) override |
| Rigid transformation computation method with initial guess. More... |
|
| void | determineRequiredBlobData () override |
| Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called. More... |
|
|
Protected Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, float >
| |
| virtual void | transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform) |
| Apply a rigid transform to a given dataset. More... |
|
| void | computeTransformation (PointCloudSource &output, const Matrix4 &guess) override |
| Rigid transformation computation method with initial guess. More... |
|
|
Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, float >
| |
| bool | searchForNeighbors (const PointCloudSource &cloud, int index, pcl::Indices &indices, std::vector< float > &distances) |
| Search for the closest nearest neighbor of a given point. More... |
|
| virtual void | computeTransformation (PointCloudSource &output, const Matrix4 &guess)=0 |
| Abstract transformation computation method with initial guess. More... |
|
|
Protected Member Functions inherited from pcl::PCLBase< PointSource >
| |
| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
|
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
|
Protected Attributes | |
| std::vector< PointCloudSourceConstPtr > | sources_ |
| std::vector< PointCloudTargetConstPtr > | targets_ |
| std::vector< CorrespondenceEstimationPtr > | correspondence_estimations_ |
|
Protected Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, float >
| |
| std::size_t | x_idx_offset_ |
| XYZ fields offset. More... |
|
| std::size_t | y_idx_offset_ |
| std::size_t | z_idx_offset_ |
| std::size_t | nx_idx_offset_ |
| Normal fields offset. More... |
|
| std::size_t | ny_idx_offset_ |
| std::size_t | nz_idx_offset_ |
| bool | use_reciprocal_correspondence_ |
| The correspondence type used for correspondence estimation. More... |
|
| bool | source_has_normals_ |
| Internal check whether source dataset has normals or not. More... |
|
| bool | target_has_normals_ |
| Internal check whether target dataset has normals or not. More... |
|
| bool | need_source_blob_ |
| Checks for whether estimators and rejectors need various data. More... |
|
| bool | need_target_blob_ |
|
Protected Attributes inherited from pcl::Registration< PointSource, PointTarget, float >
| |
| std::string | reg_name_ |
| The registration method name. More... |
|
| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
|
| KdTreeReciprocalPtr | tree_reciprocal_ |
| A pointer to the spatial search object of the source. More... |
|
| int | nr_iterations_ |
| The number of iterations the internal optimization ran for (used internally). More... |
|
| int | max_iterations_ |
| The maximum number of iterations the internal optimization should run for. More... |
|
| int | ransac_iterations_ |
| The number of iterations RANSAC should run for. More... |
|
| PointCloudTargetConstPtr | target_ |
| The input point cloud dataset target. More... |
|
| Matrix4 | final_transformation_ |
| The final transformation matrix estimated by the registration method after N iterations. More... |
|
| Matrix4 | transformation_ |
| The transformation matrix estimated by the registration method. More... |
|
| Matrix4 | previous_transformation_ |
| The previous transformation matrix estimated by the registration method (used internally). More... |
|
| double | transformation_epsilon_ |
| The maximum difference between two consecutive transformations in order to consider convergence (user defined). More... |
|
| double | transformation_rotation_epsilon_ |
| The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More... |
|
| double | euclidean_fitness_epsilon_ |
| The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More... |
|
| double | corr_dist_threshold_ |
| The maximum distance threshold between two correspondent points in source <-> target. More... |
|
| double | inlier_threshold_ |
| The inlier distance threshold for the internal RANSAC outlier rejection loop. More... |
|
| bool | converged_ |
| Holds internal convergence state, given user parameters. More... |
|
| int | min_number_correspondences_ |
| The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More... |
|
| CorrespondencesPtr | correspondences_ |
| The set of correspondences determined at this ICP step. More... |
|
| TransformationEstimationPtr | transformation_estimation_ |
| A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More... |
|
| CorrespondenceEstimationPtr | correspondence_estimation_ |
| A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More... |
|
| std::vector< CorrespondenceRejectorPtr > | correspondence_rejectors_ |
| The list of correspondence rejectors to use. More... |
|
| bool | target_cloud_updated_ |
| Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More... |
|
| bool | source_cloud_updated_ |
| Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More... |
|
| bool | force_no_recompute_ |
| A flag which, if set, means the tree operating on the target cloud will never be recomputed. More... |
|
| bool | force_no_recompute_reciprocal_ |
| A flag which, if set, means the tree operating on the source cloud will never be recomputed. More... |
|
| std::function< UpdateVisualizerCallbackSignature > | update_visualizer_ |
| Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More... |
|
|
Protected Attributes inherited from pcl::PCLBase< PointSource >
| |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
|
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
|
| bool | use_indices_ |
| Set to true if point indices are used. More... |
|
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
|
Additional Inherited Members | |
|
Public Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, float >
| |
| pcl::registration::DefaultConvergenceCriteria< float >::Ptr | convergence_criteria_ |
Detailed Description
template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >
JointIterativeClosestPoint extends ICP to multiple frames which share the same transform.
This is particularly useful when solving for camera extrinsics using multiple observations. When given a single pair of clouds, this reduces to vanilla ICP.
Definition at line 53 of file joint_icp.h.
Member Typedef Documentation
ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > |
Definition at line 79 of file joint_icp.h.
CorrespondenceEstimation
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimation = pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> |
Definition at line 82 of file joint_icp.h.
CorrespondenceEstimationConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimationConstPtr = typename CorrespondenceEstimation::ConstPtr |
Definition at line 84 of file joint_icp.h.
CorrespondenceEstimationPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimationPtr = typename CorrespondenceEstimation::Ptr |
Definition at line 83 of file joint_icp.h.
KdTree
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTree = pcl::search::KdTree<PointTarget> |
Definition at line 68 of file joint_icp.h.
KdTreePtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreePtr = typename KdTree::Ptr |
Definition at line 69 of file joint_icp.h.
KdTreeReciprocal
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreeReciprocal = pcl::search::KdTree<PointSource> |
Definition at line 71 of file joint_icp.h.
KdTreeReciprocalPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr = typename KdTree::Ptr |
Definition at line 72 of file joint_icp.h.
Matrix4
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::Matrix4 = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 |
Definition at line 126 of file joint_icp.h.
PointCloudSource
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSource = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource |
Definition at line 58 of file joint_icp.h.
PointCloudSourceConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 60 of file joint_icp.h.
PointCloudSourcePtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 59 of file joint_icp.h.
PointCloudTarget
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTarget = typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget |
Definition at line 64 of file joint_icp.h.
PointCloudTargetConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
Definition at line 66 of file joint_icp.h.
PointCloudTargetPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTargetPtr = typename PointCloudTarget::Ptr |
Definition at line 65 of file joint_icp.h.
PointIndicesConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 75 of file joint_icp.h.
PointIndicesPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 74 of file joint_icp.h.
Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > |
Definition at line 77 of file joint_icp.h.
Constructor & Destructor Documentation
JointIterativeClosestPoint()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Empty constructor.
Definition at line 129 of file joint_icp.h.
References pcl::Registration< PointSource, PointTarget, float >::reg_name_.
~JointIterativeClosestPoint()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Empty destructor.
Definition at line 136 of file joint_icp.h.
Member Function Documentation
addCorrespondenceEstimation()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Add a manual correspondence estimator If you choose to do this, you must add one for each input source / target pair.
They do not need to have trees or input clouds set ahead of time.
- Parameters
-
[in] ce Correspondence estimation
Definition at line 198 of file joint_icp.h.
References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::correspondence_estimations_.
addInputSource()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Add a source cloud to the joint solver.
- Parameters
-
[in] cloud source cloud
Definition at line 155 of file joint_icp.h.
References pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputSource(), and pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::sources_.
addInputTarget()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Add a target cloud to the joint solver.
- Parameters
-
[in] cloud target cloud
Definition at line 181 of file joint_icp.h.
References pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputTarget(), and pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::targets_.
clearCorrespondenceEstimations()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Reset my list of correspondence estimation methods.
Definition at line 222 of file joint_icp.h.
References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::correspondence_estimations_.
clearInputSources()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Reset my list of input sources.
Definition at line 206 of file joint_icp.h.
References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::sources_.
clearInputTargets()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inline |
Reset my list of input targets.
Definition at line 214 of file joint_icp.h.
References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::targets_.
computeTransformation()
template<typename PointSource , typename PointTarget , typename Scalar >
| overrideprotected |
Rigid transformation computation method with initial guess.
- Parameters
-
output the transformed input point cloud dataset using the rigid transformation found guess the initial guess of the transformation to compute
Definition at line 49 of file joint_icp.hpp.
References pcl::Correspondence::index_match, pcl::Correspondence::index_query, pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputSource(), pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputTarget(), and pcl::toPCLPointCloud2().
determineRequiredBlobData()
template<typename PointSource , typename PointTarget , typename Scalar >
| overrideprotectedvirtual |
Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called.
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, float >.
Definition at line 296 of file joint_icp.hpp.
setInputSource()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inlineoverridevirtual |
Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)
Reimplemented from pcl::Registration< PointSource, PointTarget, float >.
Definition at line 142 of file joint_icp.h.
References pcl::Registration< PointSource, PointTarget, float >::getClassName().
setInputTarget()
template<typename PointSource , typename PointTarget , typename Scalar = float>
| inlineoverridevirtual |
Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)
Reimplemented from pcl::Registration< PointSource, PointTarget, float >.
Definition at line 168 of file joint_icp.h.
References pcl::Registration< PointSource, PointTarget, float >::getClassName().
Member Data Documentation
correspondence_estimations_
template<typename PointSource , typename PointTarget , typename Scalar = float>
| protected |
sources_
template<typename PointSource , typename PointTarget , typename Scalar = float>
| protected |
Definition at line 241 of file joint_icp.h.
Referenced by pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::addInputSource(), and pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::clearInputSources().
targets_
template<typename PointSource , typename PointTarget , typename Scalar = float>
| protected |
Definition at line 242 of file joint_icp.h.
Referenced by pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::addInputTarget(), and pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::clearInputTargets().
The documentation for this class was generated from the following files:
- pcl/registration/joint_icp.h
- pcl/registration/impl/joint_icp.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_joint_iterative_closest_point.html