ICP Class Reference

#include <VisionX/components/pointcloud_processor/ObjectShapeClassification/ICP.h>

Public Member Functions
void	GetNearestNeighbors (std::vector< Eigen::Vector3f > &aNeighbors, std::vector< float > &aPointMatchDistances)
void	GetPointMatchDistances (std::vector< float > &aPointMatchDistances)
	ICP ()
float	SearchObject (Mat3d &mRotation, Vec3d &vTranslation, const float fBestDistanceUntilNow=FLT_MAX)
void	SetObjectPointcloud (const std::vector< Eigen::Vector3f > &aObjectPoints)
void	SetParameters (float fCutoffDistance=FLT_MAX, float fConvergenceDelta=0.001f, int nMaxIterations=40, int nKdTreeBucketSize=50)
void	SetScenePointcloud (const std::vector< Eigen::Vector3f > &aScenePoints)
	~ICP ()

Detailed Description

Definition at line 36 of file ICP.h.

Constructor & Destructor Documentation

ICP()

ICP

(

)

Definition at line 36 of file ICP.cpp.

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~ICP()

~ICP

(

)

Definition at line 45 of file ICP.cpp.

Member Function Documentation

GetNearestNeighbors()

void GetNearestNeighbors	(	std::vector< Eigen::Vector3f > &	aNeighbors,
		std::vector< float > &	aPointMatchDistances
	)

Definition at line 234 of file ICP.cpp.

GetPointMatchDistances()

void GetPointMatchDistances

(

std::vector< float > &

aPointMatchDistances

)

Definition at line 214 of file ICP.cpp.

SearchObject()

float SearchObject	(	Mat3d &	mRotation,
		Vec3d &	vTranslation,
		const float	fBestDistanceUntilNow = FLT_MAX
	)

Definition at line 103 of file ICP.cpp.

SetObjectPointcloud()

void SetObjectPointcloud

(

const std::vector< Eigen::Vector3f > &

aObjectPoints

)

Definition at line 94 of file ICP.cpp.

SetParameters()

void SetParameters	(	float	fCutoffDistance = FLT_MAX,
		float	fConvergenceDelta = 0.001f,
		int	nMaxIterations = 40,
		int	nKdTreeBucketSize = 50
	)

Definition at line 206 of file ICP.cpp.

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SetScenePointcloud()

void SetScenePointcloud

(

const std::vector< Eigen::Vector3f > &

aScenePoints

)

Definition at line 57 of file ICP.cpp.

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

• VisionX/components/pointcloud_processor/ObjectShapeClassification/ICP.h
• VisionX/components/pointcloud_processor/ObjectShapeClassification/ICP.cpp