cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP Class Reference

#include <GeneralizedICP.h>

Inheritance diagram for cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP:

Collaboration diagram for cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP:

Public Member Functions
	~TransformationEstimationForGeneralizedICP () override=default
TransformationEstimationType	GetTransformationEstimationType () const override
	TransformationEstimationForGeneralizedICP (double epsilon=1e-3, std::shared_ptr< RobustKernel > kernel=std::make_shared< L2Loss >())
	Constructor that takes as input a RobustKernel \params kernel Any of the implemented statistical robust kernel for outlier rejection. More...
double	ComputeRMSE (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Eigen::Matrix4d	ComputeTransformation (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Public Member Functions inherited from cloudViewer::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor. More...
virtual	~TransformationEstimation ()

Public Attributes
double	epsilon_ = 1e-3
std::shared_ptr< RobustKernel >	kernel_ = std::make_shared<L2Loss>()
	shared_ptr to an Abstract RobustKernel that could mutate at runtime. More...

Detailed Description

Definition at line 27 of file GeneralizedICP.h.

Constructor & Destructor Documentation

~TransformationEstimationForGeneralizedICP()

cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::~TransformationEstimationForGeneralizedICP ( )

overridedefault

TransformationEstimationForGeneralizedICP()

cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::TransformationEstimationForGeneralizedICP ( double  epsilon = 1e-3, std::shared_ptr< RobustKernel >  kernel = std::make_shared<L2Loss>()  )

inlineexplicit

Constructor that takes as input a RobustKernel \params kernel Any of the implemented statistical robust kernel for outlier rejection.

Definition at line 38 of file GeneralizedICP.h.

Member Function Documentation

ComputeRMSE()

double cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::ComputeRMSE ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 76 of file GeneralizedICP.cpp.

References ccPointCloud::covariances_, and cloudViewer::PointCloudTpl< T >::getEigenPoint().

ComputeTransformation()

Eigen::Matrix4d cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::ComputeTransformation ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 98 of file GeneralizedICP.cpp.

References ccPointCloud::covariances_, cloudViewer::PointCloudTpl< T >::getEigenPoint(), ccPointCloud::HasCovariances(), kernel_, cloudViewer::utility::SkewMatrix(), and cloudViewer::utility::SolveJacobianSystemAndObtainExtrinsicMatrix().

GetTransformationEstimationType()

TransformationEstimationType cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::GetTransformationEstimationType ( ) const

inlineoverridevirtual

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 32 of file GeneralizedICP.h.

Member Data Documentation

epsilon_

double cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::epsilon_ = 1e-3

Definition at line 55 of file GeneralizedICP.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes(), and cloudViewer::pipelines::registration::RegistrationGeneralizedICP().

kernel_

std::shared_ptr<RobustKernel> cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::kernel_ = std::make_shared<L2Loss>()

shared_ptr to an Abstract RobustKernel that could mutate at runtime.

Definition at line 58 of file GeneralizedICP.h.

Referenced by ComputeTransformation(), and cloudViewer::pipelines::registration::pybind_registration_classes().

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

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/GeneralizedICP.h
• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/GeneralizedICP.cpp