GlobalRegistration::Match4PCSBase Class Reference

Inheritance diagram for GlobalRegistration::Match4PCSBase:

Collaboration diagram for GlobalRegistration::Match4PCSBase:

Classes
struct	DummyTransformVisitor

Public Types
using	PairsVector = std::vector< std::pair< int, int > >
using	Scalar = typename Point3D::Scalar
using	VectorType = typename Point3D::VectorType
using	MatrixType = Eigen::Matrix< Scalar, 4, 4 >
using	LogLevel = Utils::LogLevel
using	DefaultSampler = Sampling::UniformDistSampler

Public Member Functions
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~Match4PCSBase ()
const std::vector< Point3D > &	getFirstSampled () const
	Read access to the sampled clouds used for the registration. More...
const std::vector< Point3D > &	getSecondSampled () const
	Read access to the sampled clouds used for the registration. More...
template<typename Sampler = DefaultSampler, typename Visitor = DummyTransformVisitor>
Scalar	ComputeTransformation (const std::vector< Point3D > &P, std::vector< Point3D > *Q, Eigen::Ref< MatrixType > transformation, const Sampler &sampler=Sampler(), const Visitor &v=Visitor())
	Computes an approximation of the best LCP (directional) from Q to P and the rigid transformation that realizes it. The input sets may or may not contain normal information for any point. More...

Static Public Attributes
static constexpr int	kNumberOfDiameterTrials = 1000
static constexpr Scalar	kLargeNumber = 1e9
static constexpr Scalar	distance_factor = 2.0

Member Typedef Documentation

DefaultSampler

using GlobalRegistration::Match4PCSBase::DefaultSampler = Sampling::UniformDistSampler

LogLevel

using GlobalRegistration::Match4PCSBase::LogLevel = Utils::LogLevel

MatrixType

using GlobalRegistration::Match4PCSBase::MatrixType = Eigen::Matrix<Scalar, 4, 4>

PairsVector

using GlobalRegistration::Match4PCSBase::PairsVector = std::vector< std::pair<int, int> >

Scalar

using GlobalRegistration::Match4PCSBase::Scalar = typename Point3D::Scalar

VectorType

using GlobalRegistration::Match4PCSBase::VectorType = typename Point3D::VectorType

Constructor & Destructor Documentation

~Match4PCSBase()

GlobalRegistration::Match4PCSBase::~Match4PCSBase ( )

virtual

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Member Function Documentation

ComputeTransformation()

template<typename Sampler , typename Visitor >

Match4PCSBase::Scalar GlobalRegistration::Match4PCSBase::ComputeTransformation	(	const std::vector< Point3D > &	P,
		std::vector< Point3D > *	Q,
		Eigen::Ref< MatrixType >	transformation,
		const Sampler &	sampler = Sampler(),
		const Visitor &	v = Visitor()
	)

Computes an approximation of the best LCP (directional) from Q to P and the rigid transformation that realizes it. The input sets may or may not contain normal information for any point.

Parameters

[in]	P	The first input set.
[in]	Q	The second input set. as a fraction of the size of P ([0..1]).
[out]	transformation	Rigid transformation matrix (4x4) that brings Q to the (approximate) optimal LCP. Initial value is considered as a guess

Returns

the computed LCP measure. The method updates the coordinates of the second set, Q, applying the found transformation.

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getFirstSampled()

const std::vector<Point3D>& GlobalRegistration::Match4PCSBase::getFirstSampled ( ) const

inline

Read access to the sampled clouds used for the registration.

getSecondSampled()

const std::vector<Point3D>& GlobalRegistration::Match4PCSBase::getSecondSampled ( ) const

inline

Read access to the sampled clouds used for the registration.

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Member Data Documentation

distance_factor

constexpr Scalar GlobalRegistration::Match4PCSBase::distance_factor = 2.0

static

kLargeNumber

constexpr Scalar GlobalRegistration::Match4PCSBase::kLargeNumber = 1e9

static

kNumberOfDiameterTrials

constexpr int GlobalRegistration::Match4PCSBase::kNumberOfDiameterTrials = 1000

static