MapRegistration Class Reference

#include <armarx/localization_and_mapping/cartographer_adapter/map_registration/MapRegistration.h>

Classes
struct	Association
struct	Cluster
struct	LocalPointCloud
struct	ModelCorrection

Public Types
using	Associations = std::vector<Association>
using	Clusters = std::vector<Cluster>
using	Point = pcl::PointXYZ
using	PointCloud = pcl::PointCloud<Point>

Public Member Functions
ModelCorrection	alignModelToCluster (const wykobi::Model &model, const Cluster &cluster, const Eigen::Isometry3f &world_T_map) const
void	computeBoundingBox (const PointCloud::ConstPtr &cloud)
ModelCorrection	computeCombinedCorrection (const std::vector< wykobi::Model > &models, const std::vector< ModelCorrection > &modelCorrections) const
MapRegistration::ModelCorrection	computeCorrection (const MapRegistration::Associations &associations)
Clusters	detectClusters (const PointCloud::ConstPtr &cloud) const
const RotatedRect &	getBoundingBox () const
	MapRegistration (std::unique_ptr<::cartographer::mapping::MapBuilderInterface > mapBuilder)
TimeRange	mapTimeRange () const
Associations	matchModelsToClusters (const std::vector< wykobi::Model > &models, const Clusters &clusters, const Eigen::Isometry3f &world_T_map) const
simox::math::InterpolatingTimeQueue< simox::math::PoseStamped >	robotPoseQueue () const
std::vector< Eigen::Isometry3f >	robotPoses () const
void	visualizeResult (const PointCloud::ConstPtr &cloud, const std::vector< wykobi::Model > &models, const ModelCorrection &combinedCorrection) const
	~MapRegistration ()

Member Typedef Documentation

Associations

using Associations = std::vector<Association>

Clusters

using Clusters = std::vector<Cluster>

Point

using Point = pcl::PointXYZ

PointCloud

using PointCloud = pcl::PointCloud<Point>

Constructor & Destructor Documentation

MapRegistration()

MapRegistration

(

std::unique_ptr<::cartographer::mapping::MapBuilderInterface >

mapBuilder

)

~MapRegistration()

~MapRegistration ( )

default

Member Function Documentation

alignModelToCluster()

MapRegistration::ModelCorrection alignModelToCluster	(	const wykobi::Model &	model,
		const Cluster &	cluster,
		const Eigen::Isometry3f &	world_T_map ) const

computeBoundingBox()

void computeBoundingBox

(

const PointCloud::ConstPtr &

cloud

)

computeCombinedCorrection()

MapRegistration::ModelCorrection computeCombinedCorrection	(	const std::vector< wykobi::Model > &	models,
		const std::vector< ModelCorrection > &	modelCorrections ) const

computeCorrection()

MapRegistration::ModelCorrection computeCorrection

(

const MapRegistration::Associations &

associations

)

detectClusters()

MapRegistration::Clusters detectClusters

(

const PointCloud::ConstPtr &

cloud

)

const

getBoundingBox()

const RotatedRect & getBoundingBox ( ) const

inline

mapTimeRange()

TimeRange mapTimeRange

(

)

const

matchModelsToClusters()

MapRegistration::Associations matchModelsToClusters	(	const std::vector< wykobi::Model > &	models,
		const Clusters &	clusters,
		const Eigen::Isometry3f &	world_T_map ) const

robotPoseQueue()

simox::math::InterpolatingTimeQueue< simox::math::PoseStamped > robotPoseQueue

(

)

const

robotPoses()

std::vector< Eigen::Isometry3f > robotPoses

(

)

const

visualizeResult()

void visualizeResult	(	const PointCloud::ConstPtr &	cloud,
		const std::vector< wykobi::Model > &	models,
		const ModelCorrection &	combinedCorrection ) const

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

• armarx/localization_and_mapping/cartographer_adapter/map_registration/MapRegistration.h
• armarx/localization_and_mapping/cartographer_adapter/map_registration/MapRegistration.cpp