GlobalRegistration::PairCreationFunctor< _Scalar > Struct Template Reference

Inheritance diagram for GlobalRegistration::PairCreationFunctor< _Scalar >:

Collaboration diagram for GlobalRegistration::PairCreationFunctor< _Scalar >:

Public Types
using	Scalar = _Scalar
using	PairsVector = std::vector< std::pair< int, int > >
using	VectorType = typename Point3D::VectorType
typedef Eigen::Matrix< Scalar, 3, 1 >	Point
typedef Accelerators::PairExtraction::HyperSphere< typename PairCreationFunctor::Point, 3, Scalar >	Primitive

Public Member Functions
	PairCreationFunctor (Match4PCSOptions options, const std::vector< Point3D > &Q)
Point	unitToWorld (const Eigen::MatrixBase< typename PairCreationFunctor::Point > &p) const
Scalar	unitToWorld (Scalar d) const
Point	getPointInWorldCoord (int i) const
void	synch3DContent ()
void	setRadius (Scalar radius)
Scalar	getNormalizedEpsilon (Scalar eps)
void	setBase (int base_point1, int base_point2, const std::vector< Point3D > &base_3D)
void	beginPrimitiveCollect (int)
void	endPrimitiveCollect (int)
void	process (int i, int j)
	FIXME Pair filtering is the same than 4pcs. Need refactoring. More...

Public Attributes
Scalar	norm_threshold
double	pair_normals_angle
double	pair_distance
double	pair_distance_epsilon
Match4PCSOptions	options_
const std::vector< Point3D > &	Q_
PairsVector *	pairs
std::vector< unsigned int >	ids
std::vector< typename PairCreationFunctor::Point >	points
std::vector< Primitive >	primitives

Member Typedef Documentation

PairsVector

template<typename _Scalar>

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

Point

template<typename _Scalar>

typedef Eigen::Matrix<Scalar, 3, 1> GlobalRegistration::PairCreationFunctor< _Scalar >::Point

Primitive

template<typename _Scalar>

typedef Accelerators::PairExtraction::HyperSphere< typename PairCreationFunctor::Point, 3, Scalar> GlobalRegistration::PairCreationFunctor< _Scalar >::Primitive

Scalar

template<typename _Scalar>

using GlobalRegistration::PairCreationFunctor< _Scalar >::Scalar = _Scalar

VectorType

template<typename _Scalar>

using GlobalRegistration::PairCreationFunctor< _Scalar >::VectorType = typename Point3D::VectorType

Constructor & Destructor Documentation

PairCreationFunctor()

template<typename _Scalar>

GlobalRegistration::PairCreationFunctor< _Scalar >::PairCreationFunctor ( Match4PCSOptions  options, const std::vector< Point3D > &  Q  )

inline

Member Function Documentation

beginPrimitiveCollect()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::beginPrimitiveCollect ( int  )

inline

endPrimitiveCollect()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::endPrimitiveCollect ( int  )

inline

getNormalizedEpsilon()

template<typename _Scalar>

Scalar GlobalRegistration::PairCreationFunctor< _Scalar >::getNormalizedEpsilon ( Scalar  eps )

inline

getPointInWorldCoord()

template<typename _Scalar>

Point GlobalRegistration::PairCreationFunctor< _Scalar >::getPointInWorldCoord ( int  i ) const

inline

process()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::process ( int  i, int  j  )

inline

FIXME Pair filtering is the same than 4pcs. Need refactoring.

setBase()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::setBase ( int  base_point1, int  base_point2, const std::vector< Point3D > &  base_3D  )

inline

setRadius()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::setRadius ( Scalar  radius )

inline

synch3DContent()

template<typename _Scalar>

void GlobalRegistration::PairCreationFunctor< _Scalar >::synch3DContent ( )

inline

unitToWorld() [1/2]

template<typename _Scalar>

Point GlobalRegistration::PairCreationFunctor< _Scalar >::unitToWorld ( const Eigen::MatrixBase< typename PairCreationFunctor< _Scalar >::Point > &  p ) const

inline

unitToWorld() [2/2]

template<typename _Scalar>

Scalar GlobalRegistration::PairCreationFunctor< _Scalar >::unitToWorld ( Scalar  d ) const

inline

Member Data Documentation

ids

template<typename _Scalar>

std::vector<unsigned int> GlobalRegistration::PairCreationFunctor< _Scalar >::ids

norm_threshold

template<typename _Scalar>

Scalar GlobalRegistration::PairCreationFunctor< _Scalar >::norm_threshold

options_

template<typename _Scalar>

Match4PCSOptions GlobalRegistration::PairCreationFunctor< _Scalar >::options_

pair_distance

template<typename _Scalar>

double GlobalRegistration::PairCreationFunctor< _Scalar >::pair_distance

pair_distance_epsilon

template<typename _Scalar>

double GlobalRegistration::PairCreationFunctor< _Scalar >::pair_distance_epsilon

pair_normals_angle

template<typename _Scalar>

double GlobalRegistration::PairCreationFunctor< _Scalar >::pair_normals_angle

pairs

template<typename _Scalar>

PairsVector* GlobalRegistration::PairCreationFunctor< _Scalar >::pairs

points

template<typename _Scalar>

std::vector< typename PairCreationFunctor::Point > GlobalRegistration::PairCreationFunctor< _Scalar >::points

primitives

template<typename _Scalar>

std::vector< Primitive > GlobalRegistration::PairCreationFunctor< _Scalar >::primitives

Q_

template<typename _Scalar>

const std::vector<Point3D>& GlobalRegistration::PairCreationFunctor< _Scalar >::Q_