registration_helper.hpp File Reference

#include <small_gicp/ann/kdtree.hpp>
#include <small_gicp/ann/gaussian_voxelmap.hpp>
#include <small_gicp/points/point_cloud.hpp>
#include <small_gicp/registration/registration_result.hpp>

Include dependency graph for registration_helper.hpp:

Go to the source code of this file.

Classes
struct	small_gicp::RegistrationSetting
	Registration setting. More...

Namespaces
	small_gicp

Functions
std::pair< PointCloud::Ptr, std::shared_ptr< KdTree< PointCloud > > >	small_gicp::preprocess_points (const PointCloud &points, double downsampling_resolution, int num_neighbors=10, int num_threads=4)
	Preprocess point cloud (downsampling, kdtree creation, and normal and covariance estimation). More...
template<typename T , int D>
std::pair< PointCloud::Ptr, std::shared_ptr< KdTree< PointCloud > > >	small_gicp::preprocess_points (const std::vector< Eigen::Matrix< T, D, 1 >> &points, double downsampling_resolution, int num_neighbors=10, int num_threads=4)
	Preprocess point cloud (downsampling, kdtree creation, and normal and covariance estimation) More...
GaussianVoxelMap::Ptr	small_gicp::create_gaussian_voxelmap (const PointCloud &points, double voxel_resolution)
	Create an incremental Gaussian voxel map. More...
template<typename T , int D>
RegistrationResult	small_gicp::align (const std::vector< Eigen::Matrix< T, D, 1 >> &target, const std::vector< Eigen::Matrix< T, D, 1 >> &source, const Eigen::Isometry3d &init_T=Eigen::Isometry3d::Identity(), const RegistrationSetting &setting=RegistrationSetting())
	Align point clouds. More...
RegistrationResult	small_gicp::align (const PointCloud &target, const PointCloud &source, const KdTree< PointCloud > &target_tree, const Eigen::Isometry3d &init_T=Eigen::Isometry3d::Identity(), const RegistrationSetting &setting=RegistrationSetting())
	Align preprocessed point clouds. More...
RegistrationResult	small_gicp::align (const GaussianVoxelMap &target, const PointCloud &source, const Eigen::Isometry3d &init_T=Eigen::Isometry3d::Identity(), const RegistrationSetting &setting=RegistrationSetting())
	Align preprocessed point clouds with VGICP. More...