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@@ -149,104 +149,100 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT getCorrespondencesCount(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
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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"><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"><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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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> iterations = 100,</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> refineModelIterations = 10,</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">double</span> refineModelSigma = 3.0,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> std::vector<int> * inliers = 0,</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> cv::Mat * variance = 0);</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665"> 139</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaae6ddd0517614e9332669c37c6816777"> 148</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247"> 157</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga7d90c0848a13e35f37588addf3637fe2"> 165</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">double</span> & variance,</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">bool</span> reciprocal);</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967"> 199</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="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">int</span> maximumIterations,</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">bool</span> & hasConverged,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1a153cf0e597dd206c6a850957f6c1ef"> 218</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="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">int</span> maximumIterations,</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">bool</span> & hasConverged,</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,</div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303"> 255</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="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">int</span> maximumIterations,</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">bool</span> & hasConverged,</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,</div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a12d008fea5babe6a208fca7b1fb719d3"> 274</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="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,</div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,</div>
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">int</span> maximumIterations,</div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">bool</span> & hasConverged,</div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,</div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> </div>
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<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span>} <span class="comment">// namespace util3d</span></div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
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<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea"> 64</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="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud1,</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud2);</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c"> 97</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="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,</div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,</div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">double</span> inlierThreshold = 0.02,</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">int</span> iterations = 100,</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">int</span> refineModelIterations = 10,</div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">double</span> refineModelSigma = 3.0,</div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> std::vector<int> * inliers = 0,</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> cv::Mat * variance = 0);</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665"> 135</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaae6ddd0517614e9332669c37c6816777"> 144</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,</div>
|
||||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// <=0 means that we don't care about normal angle difference</span></div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247"> 153</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga7d90c0848a13e35f37588addf3637fe2"> 161</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">double</span> & variance,</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">int</span> & correspondencesOut,</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">bool</span> reciprocal);</div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967"> 195</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>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1a153cf0e597dd206c6a850957f6c1ef"> 214</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>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303"> 251</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>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a12d008fea5babe6a208fca7b1fb719d3"> 270</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>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,</div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">int</span> maximumIterations,</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">bool</span> & hasConverged,</div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,</div>
|
||||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
|
||||
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
|
||||
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
|
||||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
|
||||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
|
||||
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
|
||||
Reference in New Issue
Block a user