PointToModelICP< PointT > Class Template Reference

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

Public Member Functions
RegistrationResult	align ()
	PointToModelICP (const wykobi::Model &model)
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)

Protected Member Functions
Eigen::Isometry3f	alignStep (const Eigen::Isometry3f &prior, pcl::Correspondences &correspondences)
Eigen::Matrix2f	computeCovariance (const decltype(wykobi::Model::polygon)&polygon, const RegistrationResult &result)

Detailed Description

template<typename PointT = pcl::PointXYZ>
class armarx::PointToModelICP< PointT >

Definition at line 73 of file PointToModelICP.h.

Constructor & Destructor Documentation

PointToModelICP()

PointToModelICP ( const wykobi::Model &  model )

inline

Definition at line 76 of file PointToModelICP.h.

Member Function Documentation

align()

RegistrationResult align ( )

inline

Definition at line 90 of file PointToModelICP.h.

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alignStep()

Eigen::Isometry3f alignStep ( const Eigen::Isometry3f &  prior, pcl::Correspondences &  correspondences  )

inlineprotected

Definition at line 143 of file PointToModelICP.h.

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computeCovariance()

Eigen::Matrix2f computeCovariance ( const decltype(wykobi::Model::polygon)&  polygon, const RegistrationResult &  result  )

inlineprotected

Definition at line 120 of file PointToModelICP.h.

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setInputCloud()

void setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr &  cloud )

inline

Definition at line 84 of file PointToModelICP.h.

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

• armarx/localization_and_mapping/cartographer_adapter/map_registration/PointToModelICP.h