CColorICP Class Reference

#include <VisionX/components/image_processor/ObjectLearningByPushing/ColorICP.h>

Classes
struct	CPointXYZRGBI

Public Member Functions
	CColorICP ()
void	GetNearestNeighbors (const std::vector< CPointXYZRGBI > &aObjectPoints, std::vector< CColorICP::CPointXYZRGBI > &aNeighbors, std::vector< float > &aPointMatchDistances)
void	GetPointMatchDistances (const std::vector< CPointXYZRGBI > &aObjectPoints, std::vector< float > &aPointMatchDistances)
float	SearchObject (const std::vector< CPointXYZRGBI > &aObjectPoints, Mat3d &mRotation, Vec3d &vTranslation, const float fBestDistanceUntilNow=FLT_MAX)
void	SetParameters (float fColorWeight=OLP_ICP_COLOR_DISTANCE_WEIGHT, float fCutoffDistance=FLT_MAX, float fConvergenceDelta=0.01f, int nMaxIterations=30, int nKdTreeBucketSize=50)
void	SetScenePointcloud (std::vector< CPointXYZRGBI > aScenePoints)
	~CColorICP ()

Static Public Member Functions
static CHypothesisPoint *	ConvertFromXYZRGBI (CPointXYZRGBI pPoint)
static CPointXYZRGBI	ConvertToXYZRGBI (CHypothesisPoint *pPoint)
static void	TransformPointXYZRGBI (CPointXYZRGBI &pPoint, Mat3d mRotation, Vec3d vTranslation)

Detailed Description

Definition at line 36 of file ColorICP.h.

Constructor & Destructor Documentation

CColorICP()

CColorICP

(

)

Definition at line 38 of file ColorICP.cpp.

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~CColorICP()

~CColorICP

(

)

Definition at line 49 of file ColorICP.cpp.

Member Function Documentation

ConvertFromXYZRGBI()

CHypothesisPoint * ConvertFromXYZRGBI ( CPointXYZRGBI  pPoint )

static

Definition at line 350 of file ColorICP.cpp.

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ConvertToXYZRGBI()

CColorICP::CPointXYZRGBI ConvertToXYZRGBI ( CHypothesisPoint *  pPoint )

static

Definition at line 335 of file ColorICP.cpp.

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GetNearestNeighbors()

void GetNearestNeighbors	(	const std::vector< CPointXYZRGBI > &	aObjectPoints,
		std::vector< CColorICP::CPointXYZRGBI > &	aNeighbors,
		std::vector< float > &	aPointMatchDistances
	)

Definition at line 299 of file ColorICP.cpp.

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GetPointMatchDistances()

void GetPointMatchDistances	(	const std::vector< CPointXYZRGBI > &	aObjectPoints,
		std::vector< float > &	aPointMatchDistances
	)

Definition at line 272 of file ColorICP.cpp.

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SearchObject()

float SearchObject	(	const std::vector< CPointXYZRGBI > &	aObjectPoints,
		Mat3d &	mRotation,
		Vec3d &	vTranslation,
		const float	fBestDistanceUntilNow = FLT_MAX
	)

Definition at line 116 of file ColorICP.cpp.

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SetParameters()

void SetParameters	(	float	fColorWeight = OLP_ICP_COLOR_DISTANCE_WEIGHT,
		float	fCutoffDistance = FLT_MAX,
		float	fConvergenceDelta = 0.01f,
		int	nMaxIterations = 30,
		int	nKdTreeBucketSize = 50
	)

Definition at line 233 of file ColorICP.cpp.

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SetScenePointcloud()

void SetScenePointcloud

(

std::vector< CPointXYZRGBI >

aScenePoints

)

Definition at line 63 of file ColorICP.cpp.

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TransformPointXYZRGBI()

void TransformPointXYZRGBI ( CPointXYZRGBI &  pPoint, Mat3d  mRotation, Vec3d  vTranslation  )

static

Definition at line 365 of file ColorICP.cpp.

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

• VisionX/components/image_processor/ObjectLearningByPushing/ColorICP.h
• VisionX/components/image_processor/ObjectLearningByPushing/ColorICP.cpp