icp::Trimmed Class Reference

#include <trimmed.h>

Inheritance diagram for icp::Trimmed:

Public Member Functions
	Trimmed (double overlap_rate)
	Trimmed (const Config &config)
	~Trimmed ()
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 8 of file trimmed.h.

Constructor & Destructor Documentation

Trimmed() [1/2]

icp::Trimmed::Trimmed

(

double

overlap_rate

)

Definition at line 24 of file trimmed.cpp.

Trimmed() [2/2]

icp::Trimmed::Trimmed

(

const Config &

config

)

Definition at line 28 of file trimmed.cpp.

~Trimmed()

icp::Trimmed::~Trimmed

(

)

Definition at line 31 of file trimmed.cpp.

Member Function Documentation

iterate()

void icp::Trimmed::iterate ( )

overridevirtual

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

Precondition

ICP::begin must have been invoked.

Postcondition

For implementers: must fill matches with newest match data.

Implements icp::ICP.

Definition at line 40 of file trimmed.cpp.

setup()

void icp::Trimmed::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 33 of file trimmed.cpp.

---

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

• include/icp/impl/trimmed.h
• lib/icp/impl/trimmed.cpp