Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar > Class Template Reference

JointIterativeClosestPoint extends ICP to multiple frames which share the same transform. More...

#include <pcl/registration/joint_icp.h>

+ Inheritance diagram for pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >:

Public Types

typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudSource 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudTarget 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef pcl::search::KdTree
< PointTarget > 
KdTree
 
typedef pcl::search::KdTree
< PointTarget >::Ptr 
KdTreePtr
 
typedef pcl::search::KdTree
< PointSource > 
KdTreeReciprocal
 
typedef KdTree::Ptr KdTreeReciprocalPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef boost::shared_ptr
< JointIterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const
JointIterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef
pcl::registration::CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > 
CorrespondenceEstimation
 
typedef
CorrespondenceEstimation::Ptr 
CorrespondenceEstimationPtr
 
typedef
CorrespondenceEstimation::ConstPtr 
CorrespondenceEstimationConstPtr
 
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::Matrix4 
Matrix4
 
- Public Types inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
typedef Registration
< PointSource, PointTarget,
Scalar >::PointCloudSource 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef Registration
< PointSource, PointTarget,
Scalar >::PointCloudTarget 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef boost::shared_ptr
< IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef Registration
< PointSource, PointTarget,
Scalar >::Matrix4 
Matrix4
 
- Public Types inherited from pcl::Registration< PointSource, PointTarget, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 > Matrix4
 
typedef boost::shared_ptr
< Registration< PointSource,
PointTarget, Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const Registration
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 
typedef
pcl::registration::CorrespondenceRejector::Ptr 
CorrespondenceRejectorPtr
 
typedef pcl::search::KdTree
< PointTarget > 
KdTree
 
typedef pcl::search::KdTree
< PointTarget >::Ptr 
KdTreePtr
 
typedef pcl::search::KdTree
< PointSource > 
KdTreeReciprocal
 
typedef KdTreeReciprocal::Ptr KdTreeReciprocalPtr
 
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
 
typedef PointCloudSource::Ptr PointCloudSourcePtr
 
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
 
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
 
typedef PointCloudTarget::Ptr PointCloudTargetPtr
 
typedef PointCloudTarget::ConstPtr PointCloudTargetConstPtr
 
typedef
KdTree::PointRepresentationConstPtr 
PointRepresentationConstPtr
 
typedef
pcl::registration::TransformationEstimation
< PointSource, PointTarget,
Scalar > 
TransformationEstimation
 
typedef
TransformationEstimation::Ptr 
TransformationEstimationPtr
 
typedef
TransformationEstimation::ConstPtr 
TransformationEstimationConstPtr
 
typedef
pcl::registration::CorrespondenceEstimationBase
< PointSource, PointTarget,
Scalar > 
CorrespondenceEstimation
 
typedef
CorrespondenceEstimation::Ptr 
CorrespondenceEstimationPtr
 
typedef
CorrespondenceEstimation::ConstPtr 
CorrespondenceEstimationConstPtr
 
- Public Types inherited from pcl::PCLBase< PointSource >
typedef pcl::PointCloud
< PointSource > 
PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 JointIterativeClosestPoint ()
 Empty constructor. More...
 
virtual ~JointIterativeClosestPoint ()
 Empty destructor. More...
 
virtual void setInputSource (const PointCloudSourceConstPtr &)
 Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
 
void addInputSource (const PointCloudSourceConstPtr &cloud)
 Add a source cloud to the joint solver. More...
 
virtual void setInputTarget (const PointCloudTargetConstPtr &)
 Provide a pointer to the input target (e.g., the point cloud that we want to align to the target) More...
 
void addInputTarget (const PointCloudTargetConstPtr &cloud)
 Add a target cloud to the joint solver. More...
 
void addCorrespondenceEstimation (CorrespondenceEstimationPtr ce)
 Add a manual correspondence estimator If you choose to do this, you must add one for each input source / target pair. More...
 
void clearInputSources ()
 Reset my list of input sources. More...
 
void clearInputTargets ()
 Reset my list of input targets. More...
 
void clearCorrespondenceEstimations ()
 Reset my list of correspondence estimation methods. More...
 
- Public Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
 IterativeClosestPoint ()
 Empty constructor. More...
 
virtual ~IterativeClosestPoint ()
 Empty destructor. More...
 
pcl::registration::DefaultConvergenceCriteria
< Scalar >::Ptr 
getConvergeCriteria ()
 Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class. More...
 
void setUseReciprocalCorrespondences (bool use_reciprocal_correspondence)
 Set whether to use reciprocal correspondence or not. More...
 
bool getUseReciprocalCorrespondences () const
 Obtain whether reciprocal correspondence are used or not. More...
 
- Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
 Registration ()
 Empty constructor. More...
 
virtual ~Registration ()
 destructor. More...
 
void setTransformationEstimation (const TransformationEstimationPtr &te)
 Provide a pointer to the transformation estimation object. More...
 
void setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce)
 Provide a pointer to the correspondence estimation object. More...
 
void setInputCloud (const PointCloudSourceConstPtr &cloud)
 Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
 
PointCloudSourceConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset target. More...
 
PointCloudSourceConstPtr const getInputSource ()
 Get a pointer to the input point cloud dataset target. More...
 
PointCloudTargetConstPtr const getInputTarget ()
 Get a pointer to the input point cloud dataset target. More...
 
void setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
 Provide a pointer to the search object used to find correspondences in the target cloud. More...
 
KdTreePtr getSearchMethodTarget () const
 Get a pointer to the search method used to find correspondences in the target cloud. More...
 
void setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false)
 Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...
 
KdTreeReciprocalPtr getSearchMethodSource () const
 Get a pointer to the search method used to find correspondences in the source cloud. More...
 
Matrix4 getFinalTransformation ()
 Get the final transformation matrix estimated by the registration method. More...
 
Matrix4 getLastIncrementalTransformation ()
 Get the last incremental transformation matrix estimated by the registration method. More...
 
void setMaximumIterations (int nr_iterations)
 Set the maximum number of iterations the internal optimization should run for. More...
 
int getMaximumIterations ()
 Get the maximum number of iterations the internal optimization should run for, as set by the user. More...
 
void setRANSACIterations (int ransac_iterations)
 Set the number of iterations RANSAC should run for. More...
 
double getRANSACIterations ()
 Get the number of iterations RANSAC should run for, as set by the user. More...
 
void setRANSACOutlierRejectionThreshold (double inlier_threshold)
 Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More...
 
double getRANSACOutlierRejectionThreshold ()
 Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More...
 
void setMaxCorrespondenceDistance (double distance_threshold)
 Set the maximum distance threshold between two correspondent points in source <-> target. More...
 
double getMaxCorrespondenceDistance ()
 Get the maximum distance threshold between two correspondent points in source <-> target. More...
 
void setTransformationEpsilon (double epsilon)
 Set the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
 
double getTransformationEpsilon ()
 Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More...
 
void setTransformationRotationEpsilon (double epsilon)
 Set the transformation rotation epsilon (maximum allowable rotation difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
 
double getTransformationRotationEpsilon ()
 Get the transformation rotation epsilon (maximum allowable difference between two consecutive transformations) as set by the user (epsilon is the cos(angle) in a axis-angle representation). More...
 
void setEuclideanFitnessEpsilon (double epsilon)
 Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
 
double getEuclideanFitnessEpsilon ()
 Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More...
 
void setPointRepresentation (const PointRepresentationConstPtr &point_representation)
 Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...
 
template<typename FunctionSignature >
bool registerVisualizationCallback (boost::function< FunctionSignature > &visualizerCallback)
 Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More...
 
double getFitnessScore (double max_range=std::numeric_limits< double >::max())
 Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) More...
 
double getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b)
 Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More...
 
bool hasConverged ()
 Return the state of convergence after the last align run. More...
 
void align (PointCloudSource &output)
 Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
 
void align (PointCloudSource &output, const Matrix4 &guess)
 Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
 
const std::string & getClassName () const
 Abstract class get name method. More...
 
bool initCompute ()
 Internal computation initalization. More...
 
bool initComputeReciprocal ()
 Internal computation when reciprocal lookup is needed. More...
 
void addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector)
 Add a new correspondence rejector to the list. More...
 
std::vector
< CorrespondenceRejectorPtr
getCorrespondenceRejectors ()
 Get the list of correspondence rejectors. More...
 
bool removeCorrespondenceRejector (unsigned int i)
 Remove the i-th correspondence rejector in the list. More...
 
void clearCorrespondenceRejectors ()
 Clear the list of correspondence rejectors. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointSource >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointSource & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void computeTransformation (PointCloudSource &output, const Matrix4 &guess)
 Rigid transformation computation method with initial guess. More...
 
void determineRequiredBlobData ()
 Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called. More...
 
- Protected Member Functions inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
virtual void transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
 Apply a rigid transform to a given dataset. More...
 
- Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
bool searchForNeighbors (const PointCloudSource &cloud, int index, std::vector< int > &indices, std::vector< float > &distances)
 Search for the closest nearest neighbor of a given point. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

std::vector
< PointCloudSourceConstPtr
sources_
 
std::vector
< PointCloudTargetConstPtr
targets_
 
std::vector
< CorrespondenceEstimationPtr
correspondence_estimations_
 
- Protected Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
size_t x_idx_offset_
 XYZ fields offset. More...
 
size_t y_idx_offset_
 
size_t z_idx_offset_
 
size_t nx_idx_offset_
 Normal fields offset. More...
 
size_t ny_idx_offset_
 
size_t nz_idx_offset_
 
bool use_reciprocal_correspondence_
 The correspondence type used for correspondence estimation. More...
 
bool source_has_normals_
 Internal check whether source dataset has normals or not. More...
 
bool target_has_normals_
 Internal check whether target dataset has normals or not. More...
 
bool need_source_blob_
 Checks for whether estimators and rejectors need various data. More...
 
bool need_target_blob_
 
- Protected Attributes inherited from pcl::Registration< PointSource, PointTarget, Scalar >
std::string reg_name_
 The registration method name. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
KdTreeReciprocalPtr tree_reciprocal_
 A pointer to the spatial search object of the source. More...
 
int nr_iterations_
 The number of iterations the internal optimization ran for (used internally). More...
 
int max_iterations_
 The maximum number of iterations the internal optimization should run for. More...
 
int ransac_iterations_
 The number of iterations RANSAC should run for. More...
 
PointCloudTargetConstPtr target_
 The input point cloud dataset target. More...
 
Matrix4 final_transformation_
 The final transformation matrix estimated by the registration method after N iterations. More...
 
Matrix4 transformation_
 The transformation matrix estimated by the registration method. More...
 
Matrix4 previous_transformation_
 The previous transformation matrix estimated by the registration method (used internally). More...
 
double transformation_epsilon_
 The maximum difference between two consecutive transformations in order to consider convergence (user defined). More...
 
double transformation_rotation_epsilon_
 The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More...
 
double euclidean_fitness_epsilon_
 The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
 
double corr_dist_threshold_
 The maximum distance threshold between two correspondent points in source <-> target. More...
 
double inlier_threshold_
 The inlier distance threshold for the internal RANSAC outlier rejection loop. More...
 
bool converged_
 Holds internal convergence state, given user parameters. More...
 
int min_number_correspondences_
 The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More...
 
CorrespondencesPtr correspondences_
 The set of correspondences determined at this ICP step. More...
 
TransformationEstimationPtr transformation_estimation_
 A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More...
 
CorrespondenceEstimationPtr correspondence_estimation_
 A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More...
 
std::vector
< CorrespondenceRejectorPtr
correspondence_rejectors_
 The list of correspondence rejectors to use. More...
 
bool target_cloud_updated_
 Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...
 
bool source_cloud_updated_
 Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...
 
bool force_no_recompute_
 A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...
 
bool force_no_recompute_reciprocal_
 A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...
 
boost::function< void(const
pcl::PointCloud< PointSource >
&cloud_src, const std::vector
< int > &indices_src, const
pcl::PointCloud< PointTarget >
&cloud_tgt, const std::vector
< int > &indices_tgt)> 
update_visualizer_
 Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Public Attributes inherited from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >
pcl::registration::DefaultConvergenceCriteria
< Scalar >::Ptr 
convergence_criteria_
 

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >

JointIterativeClosestPoint extends ICP to multiple frames which share the same transform.

This is particularly useful when solving for camera extrinsics using multiple observations. When given a single pair of clouds, this reduces to vanilla ICP.

Author
Stephen Miller

Definition at line 55 of file joint_icp.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<const JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::ConstPtr

Definition at line 77 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimation

Definition at line 79 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef CorrespondenceEstimation::ConstPtr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimationConstPtr

Definition at line 81 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef CorrespondenceEstimation::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::CorrespondenceEstimationPtr

Definition at line 80 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef pcl::search::KdTree<PointTarget> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTree

Definition at line 66 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef pcl::search::KdTree<PointTarget>::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreePtr

Definition at line 67 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef pcl::search::KdTree<PointSource> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreeReciprocal

Definition at line 69 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef KdTree::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::KdTreeReciprocalPtr

Definition at line 70 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::Matrix4

Definition at line 116 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSource

Definition at line 58 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointCloudSource::ConstPtr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr

Definition at line 60 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointCloudSource::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudSourcePtr

Definition at line 59 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTarget

Definition at line 62 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointCloudTarget::ConstPtr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTargetConstPtr

Definition at line 64 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointCloudTarget::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointCloudTargetPtr

Definition at line 63 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointIndices::ConstPtr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointIndicesConstPtr

Definition at line 74 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef PointIndices::Ptr pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::PointIndicesPtr

Definition at line 73 of file joint_icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::Ptr

Definition at line 76 of file joint_icp.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::JointIterativeClosestPoint ( )
inline

Empty constructor.

Definition at line 119 of file joint_icp.h.

References pcl::Registration< PointSource, PointTarget, Scalar >::reg_name_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::~JointIterativeClosestPoint ( )
inlinevirtual

Empty destructor.

Definition at line 126 of file joint_icp.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::addCorrespondenceEstimation ( CorrespondenceEstimationPtr  ce)
inline

Add a manual correspondence estimator If you choose to do this, you must add one for each input source / target pair.

They do not need to have trees or input clouds set ahead of time.

Parameters
[in]ceCorrespondence estimation

Definition at line 185 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::correspondence_estimations_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::addInputSource ( const PointCloudSourceConstPtr cloud)
inline

Add a source cloud to the joint solver.

Parameters
[in]cloudsource cloud

Definition at line 145 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::sources_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::addInputTarget ( const PointCloudTargetConstPtr cloud)
inline

Add a target cloud to the joint solver.

Parameters
[in]cloudtarget cloud

Definition at line 169 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::targets_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::clearCorrespondenceEstimations ( )
inline

Reset my list of correspondence estimation methods.

Definition at line 205 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::correspondence_estimations_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::clearInputSources ( )
inline

Reset my list of input sources.

Definition at line 193 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::sources_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::clearInputTargets ( )
inline

Reset my list of input targets.

Definition at line 199 of file joint_icp.h.

References pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::targets_.

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::computeTransformation ( PointCloudSource output,
const Matrix4 guess 
)
protectedvirtual

Rigid transformation computation method with initial guess.

Parameters
outputthe transformed input point cloud dataset using the rigid transformation found
guessthe initial guess of the transformation to compute

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 49 of file joint_icp.hpp.

References pcl::Correspondence::index_match, pcl::Correspondence::index_query, and pcl::toPCLPointCloud2().

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::determineRequiredBlobData ( )
protectedvirtual

Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called.

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 283 of file joint_icp.hpp.

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputSource ( const PointCloudSourceConstPtr )
inlinevirtual

Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 133 of file joint_icp.h.

References pcl::Registration< PointSource, PointTarget, Scalar >::getClassName().

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::setInputTarget ( const PointCloudTargetConstPtr )
inlinevirtual

Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 157 of file joint_icp.h.

References pcl::Registration< PointSource, PointTarget, Scalar >::getClassName().

Member Data Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
std::vector<CorrespondenceEstimationPtr> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::correspondence_estimations_
protected
template<typename PointSource , typename PointTarget , typename Scalar = float>
std::vector<PointCloudSourceConstPtr> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::sources_
protected
template<typename PointSource , typename PointTarget , typename Scalar = float>
std::vector<PointCloudTargetConstPtr> pcl::JointIterativeClosestPoint< PointSource, PointTarget, Scalar >::targets_
protected

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