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 33 of file ColorICP.h.

Constructor & Destructor Documentation

CColorICP()

CColorICP

(

)

Definition at line 36 of file ColorICP.cpp.

Here is the call graph for this function:

~CColorICP()

~CColorICP

(

)

Definition at line 45 of file ColorICP.cpp.

Member Function Documentation

ConvertFromXYZRGBI()

CHypothesisPoint * ConvertFromXYZRGBI ( CPointXYZRGBI pPoint )

static

Definition at line 358 of file ColorICP.cpp.

Here is the caller graph for this function:

ConvertToXYZRGBI()

CColorICP::CPointXYZRGBI ConvertToXYZRGBI ( CHypothesisPoint * pPoint )

static

Definition at line 343 of file ColorICP.cpp.

Here is the caller graph for this function:

GetNearestNeighbors()

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

Definition at line 305 of file ColorICP.cpp.

GetPointMatchDistances()

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

Definition at line 279 of file ColorICP.cpp.

SearchObject()

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

Definition at line 109 of file ColorICP.cpp.

Here is the caller graph for this function:

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 238 of file ColorICP.cpp.

Here is the caller graph for this function:

SetScenePointcloud()

void SetScenePointcloud

(

std::vector< CPointXYZRGBI >

aScenePoints

)

Definition at line 58 of file ColorICP.cpp.

Here is the caller graph for this function:

TransformPointXYZRGBI()

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

static

Definition at line 372 of file ColorICP.cpp.

Here is the caller graph for this function:

---

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