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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)
 

Constructor & Destructor Documentation

◆ CColorICP()

CColorICP ( )

◆ ~CColorICP()

~CColorICP ( )

Member Function Documentation

◆ ConvertFromXYZRGBI()

CHypothesisPoint * ConvertFromXYZRGBI ( CPointXYZRGBI pPoint)
static

◆ ConvertToXYZRGBI()

CColorICP::CPointXYZRGBI ConvertToXYZRGBI ( CHypothesisPoint * pPoint)
static

◆ GetNearestNeighbors()

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

◆ GetPointMatchDistances()

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

◆ SearchObject()

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

◆ SetParameters()

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

◆ SetScenePointcloud()

void SetScenePointcloud ( std::vector< CPointXYZRGBI > aScenePoints)

◆ TransformPointXYZRGBI()

void TransformPointXYZRGBI ( CPointXYZRGBI & pPoint,
Mat3d mRotation,
Vec3d vTranslation )
static
The documentation for this class was generated from the following files: