Inheritance diagram for icp::FeatureAware:

Public Member Functions
	FeatureAware (double overlap_rate, double feature_weight, int symmetric_neighbors)

	FeatureAware (const Config &config)

	~FeatureAware ()

void	setup () override
	Per-method setup code.

void	iterate () override
	Perform one iteration of ICP for the point clouds `a` and `b` provided with ICP::begin.

Public Member Functions inherited from icp::ICP
virtual	~ICP ()=default

void	begin (const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
	Begins the ICP process for point clouds `a` and `b` with an initial guess for the transform `t`.

double	calculate_cost () const
	Computes the cost of the current transformation.

const RBTransform &	current_transform () const
	The current transform.

Additional Inherited Members
Static Public Member Functions inherited from icp::ICP
static bool	register_method (std::string name, std::function< std::unique_ptr< ICP >(const Config &)> constructor)
	Registers a new ICP method that can be created with `constructor`, returning `false` if `name` has already been registered.

static bool	is_method_registered (std::string name)
	Returns `true` if the ICP method `name` is registered.

static const std::vector< std::string > &	registered_methods ()
	Returns a current list of the names of currently registered ICP methods.

static std::optional< std::unique_ptr< ICP > >	from_method (std::string name, const Config &params=Config())
	Factory constructor for the ICP method `name` with configuration `config`.

Protected Member Functions inherited from icp::ICP
	ICP ()

Protected Attributes inherited from icp::ICP
RBTransform	transform
	The current point cloud transformation that is being optimized.

std::vector< Vector >	a
	The source point cloud.

std::vector< Vector >	b
	The destination point cloud.

std::vector< Match >	matches
	The pairing of each point in `a` to its closest in `b`.

Detailed Description

Definition at line 10 of file feature_aware.h.

Constructor & Destructor Documentation

icp::FeatureAware::FeatureAware	(	double	overlap_rate,
		double	feature_weight,
		int	symmetric_neighbors
	)

Definition at line 20 of file feature_aware.cpp.

icp::FeatureAware::FeatureAware ( const Config & config )

Definition at line 33 of file feature_aware.cpp.

icp::FeatureAware::~FeatureAware ( )

Definition at line 38 of file feature_aware.cpp.

void icp::FeatureAware::iterate ( )

overridevirtual

Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.

Postcondition: For implementers: must fill matches with newest match data.

Implements icp::ICP.

Definition at line 55 of file feature_aware.cpp.

void icp::FeatureAware::setup ( )

overridevirtual

Per-method setup code.

Postcondition: For implementers: must fill matches with match data for the initial point clouds.

Implements icp::ICP.

Definition at line 40 of file feature_aware.cpp.

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