Template Class FastVGICPCuda

Defined in File fast_vgicp_cuda.hpp

Inheritance Relationships

Base Type

public fast_gicp::LsqRegistration< PointSource, PointTarget > (Template Class LsqRegistration)

Class Documentation

template<typename PointSource, typename PointTarget> class FastVGICPCuda : public fast_gicp::LsqRegistration<PointSource, PointTarget>

Fast Voxelized GICP algorithm boosted with CUDA.

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<FastVGICPCuda<PointSource, PointTarget>>

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

Public Functions

FastVGICPCuda()

virtual ~FastVGICPCuda() override

void setCorrespondenceRandomness(int k)

void setResolution(double resolution)

void setKernelWidth(double kernel_width, double max_dist = -1.0)

void setRegularizationMethod(RegularizationMethod method)

void setNeighborSearchMethod(NeighborSearchMethod method, double radius = -1.0)

void setNearestNeighborSearchMethod(NearestNeighborMethod method)

virtual void swapSourceAndTarget() override

virtual void clearSource() override

virtual void clearTarget() override

virtual void setInputSource(const PointCloudSourceConstPtr &cloud) override

virtual void setInputTarget(const PointCloudTargetConstPtr &cloud) override

Protected Functions

virtual void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override

virtual double linearize(const Eigen::Isometry3d &trans, Eigen::Matrix<double, 6, 6> *H = nullptr, Eigen::Matrix<double, 6, 1> *b = nullptr) override

virtual double compute_error(const Eigen::Isometry3d &trans) override

template<typename PointT> std::vector<int> find_neighbors_parallel_kdtree(int k, typename pcl::PointCloud<PointT>::ConstPtr cloud) const