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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)
 

Detailed Description

Definition at line 33 of file ColorICP.h.

Constructor & Destructor Documentation

◆ CColorICP()

CColorICP ( )

Definition at line 36 of file ColorICP.cpp.

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◆ ~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.

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◆ ConvertToXYZRGBI()

CColorICP::CPointXYZRGBI ConvertToXYZRGBI ( CHypothesisPoint *  pPoint)
static

Definition at line 343 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 305 of file ColorICP.cpp.

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◆ GetPointMatchDistances()

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

Definition at line 279 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 109 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 238 of file ColorICP.cpp.

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◆ SetScenePointcloud()

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

Definition at line 58 of file ColorICP.cpp.

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◆ TransformPointXYZRGBI()

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

Definition at line 372 of file ColorICP.cpp.

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