PCL registration interfaces. More...

#include <pcl_registration.hpp>

Inheritance diagram for small_gicp::RegistrationPCL< PointSource, PointTarget >:

Collaboration diagram for small_gicp::RegistrationPCL< PointSource, PointTarget >:

Public Types
using	Scalar = float

using	Matrix4 = typename pcl::Registration< PointSource, PointTarget, Scalar >::Matrix4

using	PointCloudSource = typename pcl::Registration< PointSource, PointTarget, Scalar >::PointCloudSource

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = typename pcl::Registration< PointSource, PointTarget, Scalar >::PointCloudTarget

using	PointCloudTargetPtr = typename PointCloudTarget::Ptr

using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using	Ptr = pcl::shared_ptr< RegistrationPCL< PointSource, PointTarget > >

using	ConstPtr = pcl::shared_ptr< const RegistrationPCL< PointSource, PointTarget > >

Public Member Functions
	RegistrationPCL ()

virtual	~RegistrationPCL ()

void	setNumThreads (int n)
	Set the number of threads to use. More...

void	setCorrespondenceRandomness (int k)
	Set the number of neighbors for covariance estimation. More...

void	setNumNeighborsForCovariance (int k)
	Set the number of neighbors for covariance estimation. More...

void	setVoxelResolution (double r)
	Set the voxel resolution for VGICP. More...

void	setRotationEpsilon (double eps)
	Set rotation epsilon for convergence check. More...

void	setRegistrationType (const std::string &type)
	Set registration type ("GICP" or "VGICP"). More...

void	setVerbosity (bool verbose)
	Set the verbosity flag. More...

const Eigen::Matrix< double, 6, 6 > &	getFinalHessian () const
	Get the final Hessian matrix ([rx, ry, rz, tx, ty, tz]). More...

const RegistrationResult &	getRegistrationResult () const
	Get the detailed registration result. More...

void	setInputSource (const PointCloudSourceConstPtr &cloud) override
	Set the input source (aligned) point cloud. More...

void	setInputTarget (const PointCloudTargetConstPtr &cloud) override
	Set the input target (fixed) point cloud. More...

void	setSourceCovariances (const std::vector< Eigen::Matrix4d > &covs)
	Set source point covariances. More...

void	setTargetCovariances (const std::vector< Eigen::Matrix4d > &covs)
	Set target point covariances. More...

const std::vector< Eigen::Matrix4d > &	getSourceCovariances () const
	Get source point covariances. More...

const std::vector< Eigen::Matrix4d > &	getTargetCovariances () const
	Get target point covariances. More...

void	swapSourceAndTarget ()
	Swap source and target point clouds and their augmented data (KdTrees, covariances, and voxelmaps). More...

void	clearSource ()
	Clear source point cloud. More...

void	clearTarget ()
	Clear target point cloud. More...

Protected Member Functions
virtual void	computeTransformation (PointCloudSource &output, const Matrix4 &guess) override

Protected Attributes
int	num_threads_
	Number of threads to use. More...

int	k_correspondences_
	Number of neighbors for covariance estimation. More...

double	rotation_epsilon_
	Rotation epsilon for convergence check. More...

double	voxel_resolution_
	Voxel resolution for VGICP. More...

std::string	registration_type_
	Registration type ("GICP" or "VGICP"). More...

bool	verbose_
	Verbosity flag. More...

std::shared_ptr< KdTree< pcl::PointCloud< PointSource > > >	target_tree_
	KdTree for target point cloud. More...

std::shared_ptr< KdTree< pcl::PointCloud< PointSource > > >	source_tree_
	KdTree for source point cloud. More...

std::shared_ptr< GaussianVoxelMap >	target_voxelmap_
	VoxelMap for target point cloud. More...

std::shared_ptr< GaussianVoxelMap >	source_voxelmap_
	VoxelMap for source point cloud. More...

std::vector< Eigen::Matrix4d >	target_covs_
	Covariances of target points. More...

std::vector< Eigen::Matrix4d >	source_covs_
	Covariances of source points. More...

RegistrationResult	result_
	Registration result. More...

Detailed Description