iterative closest points
CEV ICP algorithm library
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vanilla.h
Go to the documentation of this file.
1// TODO: we should probably find a good solution for CEV copyright
2
3/*
4 * @author Utku Melemetci
5 */
6
7#include "icp/icp.h"
8
9namespace icp {
10 class Vanilla final : public ICP {
11 public:
12 Vanilla();
13 Vanilla(const Config& config);
14 ~Vanilla();
15
16 void setup() override;
17 void iterate() override;
18
19 private:
20 void compute_matches();
21
22 std::vector<icp::Vector> a_current;
23 icp::Vector b_cm;
24 };
25}
Configuration for ICP instances.
Definition icp.h:80
Interface for iterative closest points.
Definition icp.h:48
void iterate() override
Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
Definition vanilla.cpp:32
void setup() override
Per-method setup code.
Definition vanilla.cpp:25
Definition driver.h:7
Eigen::Vector2d Vector
Definition geo.h:15