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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">util3d_registration.h</div></div>
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@@ -132,11 +149,11 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">float</span> maxDistance);</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea"> 68</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">transformFromXYZCorrespondencesSVD</a>(</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud1,</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud2);</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span>Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c"> 101</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c">transformFromXYZCorrespondences</a>(</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> inlierThreshold = 0.02,</div>
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@@ -177,7 +194,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icp(</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967"> 209</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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@@ -188,7 +205,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icp(</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1a153cf0e597dd206c6a850957f6c1ef"> 228</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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@@ -200,7 +217,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icpPointToPlane(</div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303"> 265</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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@@ -211,7 +228,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT icpPointToPlane(</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a12d008fea5babe6a208fca7b1fb719d3"> 284</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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@@ -229,11 +246,19 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="agroup__ComputeVarianceAndCorrespondences_html_gaf474f9fb6eaaf532e9b18af63b9e1665"><div class="ttname"><a href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d::computeVarianceAndCorrespondences</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)</div><div class="ttdoc">Compute with variance and correspondences of pcl::PointNormal point cloud type.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a56797352c7d47f815c694bc4ccb1faea"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">rtabmap::util3d::transformFromXYZCorrespondencesSVD</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)</div><div class="ttdoc">Estimates the rigid 3D transformation between two point clouds using SVD.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a6ac0f56608f1760d60eda7861b8dc303"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">rtabmap::util3d::icpPointToPlane</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT icpPointToPlane(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)</div><div class="ttdoc">Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aab3ff771d2b43075bb8e7ca6e730c37c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c">rtabmap::util3d::transformFromXYZCorrespondences</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)</div><div class="ttdoc">Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_af9f16d681288b1f91ce6e5a8ee9f6967"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">rtabmap::util3d::icp</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT icp(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)</div><div class="ttdoc">Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting t...</div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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