List of all members | Public Member Functions | Static Public Member Functions
CPointCloudRegistration Class Reference

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

Public Member Functions

bool CheckObjectMatchAtOriginalPosition (const CObjectHypothesis *pHypothesis, float &distance, const int nEffortLevel=OLP_EFFORT_POINTCLOUD_MATCHING)
 
 CPointCloudRegistration ()
 
float EstimateTransformation (const CObjectHypothesis *pHypothesis, Mat3d &mRotation, Vec3d &vTranslation, const Vec3d upwardsVector, const int nEffortLevel=OLP_EFFORT_POINTCLOUD_MATCHING, const std::vector< Vec3d > *pPossibleLocations=NULL, std::vector< CColorICP::CPointXYZRGBI > *pNearestNeighbors=NULL, std::vector< float > *pPointMatchDistances=NULL, const float maxAcceptedDistance=FLT_MAX)
 
float EstimateTransformation (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr objectPointCloud, const Vec3d center, Mat3d &mRotation, Vec3d &vTranslation, const Vec3d upwardsVector, const int nEffortLevel, const std::vector< Vec3d > *pPossibleLocationOffsets=NULL, std::vector< CColorICP::CPointXYZRGBI > *pNearestNeighbors=NULL, std::vector< float > *pPointMatchDistances=NULL)
 
float EstimateTransformation (const std::vector< CHypothesisPoint * > &aObjectPoints, const Vec3d center, Mat3d &mRotation, Vec3d &vTranslation, const Vec3d upwardsVector, const int nEffortLevel=OLP_EFFORT_POINTCLOUD_MATCHING, const std::vector< Vec3d > *pPossibleLocationOffsets=NULL, std::vector< CColorICP::CPointXYZRGBI > *pNearestNeighbors=NULL, std::vector< float > *pPointMatchDistances=NULL, const std::vector< CHypothesisPoint * > *pAdditionalPoints=NULL, const float maxAcceptedDistance=FLT_MAX)
 
void SetScenePointcloud (const std::vector< CHypothesisPoint * > &aScenePoints)
 
 ~CPointCloudRegistration ()
 

Static Public Member Functions

static CColorICP::CPointXYZRGBI ConvertPclToXYZRGBI (pcl::PointXYZRGBA point)
 
static void GetCompleteTransformation (Mat3d rotICP, Vec3d transICP, Mat3d rotShift, Vec3d transShift, Vec3d center, Mat3d &completeRotation, Vec3d &completeTranslation)
 
static void RotatePoints (std::vector< CColorICP::CPointXYZRGBI > &points, const Mat3d rot)
 

Detailed Description

Definition at line 34 of file PointCloudRegistration.h.

Constructor & Destructor Documentation

◆ CPointCloudRegistration()

CPointCloudRegistration ( )

Definition at line 39 of file PointCloudRegistration.cpp.

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◆ ~CPointCloudRegistration()

~CPointCloudRegistration ( )

Definition at line 54 of file PointCloudRegistration.cpp.

Member Function Documentation

◆ CheckObjectMatchAtOriginalPosition()

bool CheckObjectMatchAtOriginalPosition ( const CObjectHypothesis *  pHypothesis,
float &  distance,
const int  nEffortLevel = OLP_EFFORT_POINTCLOUD_MATCHING 
)

Definition at line 460 of file PointCloudRegistration.cpp.

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◆ ConvertPclToXYZRGBI()

CColorICP::CPointXYZRGBI ConvertPclToXYZRGBI ( pcl::PointXYZRGBA  point)
static

Definition at line 720 of file PointCloudRegistration.cpp.

◆ EstimateTransformation() [1/3]

float EstimateTransformation ( const CObjectHypothesis *  pHypothesis,
Mat3d &  mRotation,
Vec3d &  vTranslation,
const Vec3d  upwardsVector,
const int  nEffortLevel = OLP_EFFORT_POINTCLOUD_MATCHING,
const std::vector< Vec3d > *  pPossibleLocations = NULL,
std::vector< CColorICP::CPointXYZRGBI > *  pNearestNeighbors = NULL,
std::vector< float > *  pPointMatchDistances = NULL,
const float  maxAcceptedDistance = FLT_MAX 
)

Definition at line 614 of file PointCloudRegistration.cpp.

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◆ EstimateTransformation() [2/3]

float EstimateTransformation ( const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr  objectPointCloud,
const Vec3d  center,
Mat3d &  mRotation,
Vec3d &  vTranslation,
const Vec3d  upwardsVector,
const int  nEffortLevel,
const std::vector< Vec3d > *  pPossibleLocationOffsets = NULL,
std::vector< CColorICP::CPointXYZRGBI > *  pNearestNeighbors = NULL,
std::vector< float > *  pPointMatchDistances = NULL 
)

◆ EstimateTransformation() [3/3]

float EstimateTransformation ( const std::vector< CHypothesisPoint * > &  aObjectPoints,
const Vec3d  center,
Mat3d &  mRotation,
Vec3d &  vTranslation,
const Vec3d  upwardsVector,
const int  nEffortLevel = OLP_EFFORT_POINTCLOUD_MATCHING,
const std::vector< Vec3d > *  pPossibleLocationOffsets = NULL,
std::vector< CColorICP::CPointXYZRGBI > *  pNearestNeighbors = NULL,
std::vector< float > *  pPointMatchDistances = NULL,
const std::vector< CHypothesisPoint * > *  pAdditionalPoints = NULL,
const float  maxAcceptedDistance = FLT_MAX 
)

Definition at line 91 of file PointCloudRegistration.cpp.

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◆ GetCompleteTransformation()

void GetCompleteTransformation ( Mat3d  rotICP,
Vec3d  transICP,
Mat3d  rotShift,
Vec3d  transShift,
Vec3d  center,
Mat3d &  completeRotation,
Vec3d &  completeTranslation 
)
static

Definition at line 708 of file PointCloudRegistration.cpp.

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◆ RotatePoints()

void RotatePoints ( std::vector< CColorICP::CPointXYZRGBI > &  points,
const Mat3d  rot 
)
static

Definition at line 680 of file PointCloudRegistration.cpp.

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◆ SetScenePointcloud()

void SetScenePointcloud ( const std::vector< CHypothesisPoint * > &  aScenePoints)

Definition at line 69 of file PointCloudRegistration.cpp.

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