pcl::recognition::TrimmedICP< PointT, Scalar > Class Template Reference

#include <pcl/recognition/ransac_based/trimmed_icp.h>

Inheritance diagram for pcl::recognition::TrimmedICP< PointT, Scalar >:

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Collaboration diagram for pcl::recognition::TrimmedICP< PointT, Scalar >:

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List of all members.

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4
Public Member Functions
	TrimmedICP ()
virtual	~TrimmedICP ()
void	init (const PointCloudConstPtr &target)
	Call this method before calling align().
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).
void	setNewToOldEnergyRatio (float ratio)
Static Protected Member Functions
static bool	compareCorrespondences (const pcl::Correspondence &a, const pcl::Correspondence &b)
Protected Attributes
PointCloudConstPtr	target_points_
pcl::KdTreeFLANN< PointT >	kdtree_
float	new_to_old_energy_ratio_

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Detailed Description

template<typename PointT, typename Scalar>
class pcl::recognition::TrimmedICP< PointT, Scalar >

Definition at line 62 of file trimmed_icp.h.

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Member Typedef Documentation

template<typename PointT, typename Scalar>

typedef Eigen::Matrix<Scalar, 4, 4> pcl::recognition::TrimmedICP< PointT, Scalar >::Matrix4

Reimplemented from pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 68 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

typedef pcl::PointCloud<PointT> pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloud

Definition at line 65 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

typedef PointCloud::ConstPtr pcl::recognition::TrimmedICP< PointT, Scalar >::PointCloudConstPtr

Definition at line 66 of file trimmed_icp.h.

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Constructor & Destructor Documentation

template<typename PointT, typename Scalar>

pcl::recognition::TrimmedICP< PointT, Scalar >::TrimmedICP

(

)

[inline]

Definition at line 71 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

virtual pcl::recognition::TrimmedICP< PointT, Scalar >::~TrimmedICP

(

)

[inline, virtual]

Definition at line 75 of file trimmed_icp.h.

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Member Function Documentation

template<typename PointT, typename Scalar>

void pcl::recognition::TrimmedICP< PointT, Scalar >::align	(	const PointCloud &	source_points,
		int	num_source_points_to_use,
		Matrix4 &	guess_and_result
	)			const [inline]

The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method).

Parameters:

[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 99 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

static bool pcl::recognition::TrimmedICP< PointT, Scalar >::compareCorrespondences	(	const pcl::Correspondence &	a,
		const pcl::Correspondence &	b
	)			[inline, static, protected]

Definition at line 173 of file trimmed_icp.h.

Referenced by pcl::recognition::TrimmedICP< pcl::PointXYZ, float >::align().

template<typename PointT, typename Scalar>

void pcl::recognition::TrimmedICP< PointT, Scalar >::init

(

const PointCloudConstPtr &

target

)

[inline]

Call this method before calling align().

Parameters:

[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 84 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

void pcl::recognition::TrimmedICP< PointT, Scalar >::setNewToOldEnergyRatio

(

float

ratio

)

[inline]

Definition at line 163 of file trimmed_icp.h.

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Member Data Documentation

template<typename PointT, typename Scalar>

pcl::KdTreeFLANN<PointT> pcl::recognition::TrimmedICP< PointT, Scalar >::kdtree_ [protected]

Definition at line 180 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

float pcl::recognition::TrimmedICP< PointT, Scalar >::new_to_old_energy_ratio_ [protected]

Definition at line 181 of file trimmed_icp.h.

template<typename PointT, typename Scalar>

PointCloudConstPtr pcl::recognition::TrimmedICP< PointT, Scalar >::target_points_ [protected]

Definition at line 179 of file trimmed_icp.h.

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The documentation for this class was generated from the following file:

• /builddir/build/BUILD/pcl-pcl-1.7.1/recognition/include/pcl/recognition/ransac_based/trimmed_icp.h