Point Cloud Library (PCL)
1.3.1
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#include <pcl/registration/incremental_registration.h>
Public Types | |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
IncrementalRegistration () | |
virtual | ~IncrementalRegistration () |
void | align (PointCloud &output, bool use_vanilla_ICP=false) |
PointCloud * | getModel () |
get the incrementally point map | |
void | reset () |
reset the incremental registration (re-empty point model and reset transformation matrix) | |
Eigen::Matrix4f | getTransformation () |
get latest (global) transformation | |
void | setDownsamplingLeafSizeInput (double leaf_size) |
set the leaf size used for downsampling the input cloud | |
double | getDownsamplingLeafSizeInput () |
get the leaf size used for downsampling the input cloud | |
void | setDownsamplingLeafSizeModel (double leaf_size) |
set the leaf size used for downsampling the incrementally built model | |
void | getDownsamplingLeafSizeModel () |
get the leaf size used for downsampling the incrementally built model | |
void | setRegistrationDistanceThreshold (double threshold) |
set the distance threshold for the ICP-based registration | |
void | getRegistrationDistanceThreshold () |
get the distance threshold for the ICP-based registration | |
void | downsampleInputCloud (bool enable) |
enable downsampling of the input cloud. | |
void | downsampleModelCloud (bool enable) |
enable downsampling of the incrementally built model cloud. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 34 of file incremental_registration.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 36 of file incremental_registration.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 35 of file incremental_registration.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 78 of file pcl_base.h.
pcl::registration::IncrementalRegistration::IncrementalRegistration | ( | ) | [inline] |
Definition at line 38 of file incremental_registration.h.
virtual pcl::registration::IncrementalRegistration::~IncrementalRegistration | ( | ) | [inline, virtual] |
Definition at line 52 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::align | ( | PointCloud & | output, |
bool | use_vanilla_ICP = false |
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) | [inline] |
INIT /////////////////////////////////////////////////////////////
DOWNSAMPLING /////////////////////////////////////////////////////
REGISTRATION /////////////////////////////////////////////////////
use GICP for registration //////////////////////////////////////
use GICP for registration //////////////////////////////////////
use normal icp /////////////////////////////////////////////////
DEINIT ///////////////////////////////////////////////////////////
Definition at line 55 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::downsampleInputCloud | ( | bool | enable | ) | [inline] |
enable downsampling of the input cloud.
The leaf size is set using setDownsamplingLeafSizeInput
Definition at line 217 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::downsampleModelCloud | ( | bool | enable | ) | [inline] |
enable downsampling of the incrementally built model cloud.
The leaf size is set using setDownsamplingLeafSizeModel
Definition at line 219 of file incremental_registration.h.
double pcl::registration::IncrementalRegistration::getDownsamplingLeafSizeInput | ( | ) | [inline] |
get the leaf size used for downsampling the input cloud
Definition at line 204 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::getDownsamplingLeafSizeModel | ( | ) | [inline] |
get the leaf size used for downsampling the incrementally built model
Definition at line 209 of file incremental_registration.h.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
PointCloud* pcl::registration::IncrementalRegistration::getModel | ( | ) | [inline] |
get the incrementally point map
Definition at line 191 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::getRegistrationDistanceThreshold | ( | ) | [inline] |
get the distance threshold for the ICP-based registration
Definition at line 214 of file incremental_registration.h.
Eigen::Matrix4f pcl::registration::IncrementalRegistration::getTransformation | ( | ) | [inline] |
get latest (global) transformation
Definition at line 197 of file incremental_registration.h.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::registration::IncrementalRegistration::reset | ( | ) | [inline] |
reset the incremental registration (re-empty point model and reset transformation matrix)
Definition at line 194 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::setDownsamplingLeafSizeInput | ( | double | leaf_size | ) | [inline] |
set the leaf size used for downsampling the input cloud
Definition at line 202 of file incremental_registration.h.
void pcl::registration::IncrementalRegistration::setDownsamplingLeafSizeModel | ( | double | leaf_size | ) | [inline] |
set the leaf size used for downsampling the incrementally built model
Definition at line 207 of file incremental_registration.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::registration::IncrementalRegistration::setRegistrationDistanceThreshold | ( | double | threshold | ) | [inline] |
set the distance threshold for the ICP-based registration
Definition at line 212 of file incremental_registration.h.