Class for performing Iterative Closest Point (ICP) registration. More...

#include <icp.hpp>

Collaboration diagram for ICP:

Public Member Functions
	ICP (std::string target_file, double max_correspondence_distance, long max_iteration, double transformation_epsilon, double euclidean_fitness_epsilon)
	Constructor for the ICP class.

double	executeICP (pcl::PointCloud< pcl::PointXYZI >::Ptr source, pcl::PointCloud< pcl::PointXYZI >::Ptr final_cloud)
	Execute the ICP registration.

Private Attributes
pcl::IterativeClosestPoint< pcl::PointXYZI, pcl::PointXYZI >	_icp_
	ICP object.

Detailed Description

Class for performing Iterative Closest Point (ICP) registration.

Definition at line 12 of file icp.hpp.

Constructor & Destructor Documentation

ICP::ICP	(	std::string	target_file,
		double	max_correspondence_distance,
		long	max_iteration,
		double	transformation_epsilon,
		double	euclidean_fitness_epsilon
	)

Constructor for the ICP class.

Parameters

target_file	Path to the target point cloud file.
max_correspondence_distance	Maximum correspondence distance for ICP.
max_iteration	Maximum number of iterations for ICP.
transformation_epsilon	Transformation epsilon for convergence criteria.
euclidean_fitness_epsilon	Euclidean fitness epsilon for convergence criteria.

Definition at line 4 of file icp.cpp.

double ICP::executeICP	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	source,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	final_cloud
	)

Execute the ICP registration.

Parameters

source	Source point cloud for registration.
final_cloud	Final registered point cloud.

Definition at line 24 of file icp.cpp.

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pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI> ICP::_icp_

private

ICP object.

Definition at line 14 of file icp.hpp.

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