ICP alogrithm, taking a sequence of clouds and using a map Warning: used with caution, you need to set the map manually. More...
#include <PointMatcher.h>
Inheritance diagram for PointMatcher< T >::ICPSequence:
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) | |
| PM_DEPRECATED ("Use getPrefilteredInternalMap instead. " "Function now always returns map with filter chain applied. " "This may have altered your program behavior." "Reasons for this stated here and in associated PR: " "https://github.com/ethz-asl/libpointmatcher/issues/209.") const DataPoints &getInternalMap() const | |
| const DataPoints & | getPrefilteredInternalMap () const |
| Return the map, in internal coordinates (fast) | |
| PM_DEPRECATED ("Use getPrefilteredMap instead. " "Function now always returns map with filter chain applied. " "This may have altered your program behavior." "Reasons for this stated here and in associated PR: " "https://github.com/ethz-asl/libpointmatcher/issues/209") const DataPoints getMap() const | |
| const DataPoints | getPrefilteredMap () const |
| Return the map, in global coordinates (slow) | |
 Public Member Functions inherited from PointMatcher< T >::ICP | |
| TransformationParameters | operator() (const DataPoints &readingIn, const DataPoints &referenceIn) |
| Perform ICP and return optimised transformation matrix. | |
| TransformationParameters | operator() (const DataPoints &readingIn, const DataPoints &referenceIn, const TransformationParameters &initialTransformationParameters) |
| Perform ICP from initial guess and return optimised transformation matrix. | |
| TransformationParameters | compute (const DataPoints &readingIn, const DataPoints &referenceIn, const TransformationParameters &initialTransformationParameters) |
| Perform ICP from initial guess and return optimised transformation matrix. | |
| const DataPoints & | getReadingFiltered () const |
| Return the filtered point cloud reading used in the ICP chain. | |
| Public Member Functions inherited from PointMatcher< T >::ICPChainBase | |
| virtual | ~ICPChainBase () |
| virtual desctructor | |
| virtual void | setDefault () |
| Construct an ICP algorithm that works in most of the cases. | |
| void | loadFromYaml (std::istream &in) |
| Construct an ICP algorithm from a YAML file. | |
| unsigned | getPrefilteredReadingPtsCount () const |
| Return the remaining number of points in reading after prefiltering but before the iterative process. | |
| unsigned | getPrefilteredReferencePtsCount () const |
| Return the remaining number of points in the reference after prefiltering but before the iterative process. | |
| bool | getMaxNumIterationsReached () const |
| Return the flag that informs if we reached the maximum number of iterations during the last iterative process. | |
| template<typename R > | |
| const std::string & | createModulesFromRegistrar (const std::string ®Name, const YAML::Node &doc, const R ®istrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules) |
| Instantiate modules if their names are in the YAML file. | |
| template<typename R > | |
| const std::string & | createModuleFromRegistrar (const std::string ®Name, const YAML::Node &doc, const R ®istrar, std::shared_ptr< typename R::TargetType > &module) |
| Instantiate a module if its name is in the YAML file. | |
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 | |
| Protected Attributes inherited from PointMatcher< T >::ICP | |
| DataPoints | readingFiltered |
| reading point cloud after the filters were applied | |
| Protected Attributes inherited from PointMatcher< T >::ICPChainBase | |
| unsigned | prefilteredReadingPtsCount |
| remaining number of points after prefiltering but before the iterative process | |
| unsigned | prefilteredReferencePtsCount |
| remaining number of points after prefiltering but before the iterative process | |
| bool | maxNumIterationsReached |
| store if we reached the maximum number of iterations last time compute was called | |
Additional Inherited Members | |
| Public Attributes inherited from PointMatcher< T >::ICPChainBase | |
| DataPointsFilters | readingDataPointsFilters |
| filters for reading, applied once | |
| DataPointsFilters | readingStepDataPointsFilters |
| filters for reading, applied at each step | |
| DataPointsFilters | referenceDataPointsFilters |
| filters for reference | |
| Transformations | transformations |
| transformations | |
| std::shared_ptr< Matcher > | matcher |
| matcher | |
| OutlierFilters | outlierFilters |
| outlier filters | |
| std::shared_ptr< ErrorMinimizer > | errorMinimizer |
| error minimizer | |
| TransformationCheckers | transformationCheckers |
| transformation checkers | |
| std::shared_ptr< Inspector > | inspector |
| inspector | |
| Protected Member Functions inherited from PointMatcher< T >::ICP | |
| TransformationParameters | computeWithTransformedReference (const DataPoints &readingIn, const DataPoints &reference, const TransformationParameters &T_refIn_refMean, const TransformationParameters &initialTransformationParameters) |
| Perferm ICP using an already-transformed reference and with an already-initialized matcher. | |
| Protected Member Functions inherited from PointMatcher< T >::ICPChainBase | |
| ICPChainBase () | |
| Protected contstructor, to prevent the creation of this object. | |
| void | cleanup () |
| Clean chain up, empty all filters and delete associated objects. | |
| virtual void | loadAdditionalYAMLContent (PointMatcherSupport::YAML::Node &doc) |
| Hook to load addition subclass-specific content from the YAML file. | |
| template<typename R > | |
| const std::string & | createModulesFromRegistrar (const std::string ®Name, const PointMatcherSupport::YAML::Node &doc, const R ®istrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules) |
| Instantiate modules if their names are in the YAML file. | |
| template<typename R > | |
| const std::string & | createModuleFromRegistrar (const std::string ®Name, const PointMatcherSupport::YAML::Node &doc, const R ®istrar, std::shared_ptr< typename R::TargetType > &module) |
| Instantiate a module if its name is in the YAML file. | |
| std::string | nodeVal (const std::string ®Name, const PointMatcherSupport::YAML::Node &doc) |
| Get the value of a field in a node. | |
Detailed Description
template<typename T>
struct PointMatcher< T >::ICPSequence
ICP alogrithm, taking a sequence of clouds and using a map Warning: used with caution, you need to set the map manually.
The documentation for this struct was generated from the following files:
- PointMatcher.h
- ICP.cpp
