Data Structures
class	LaserNAVCalibration
	Filter to calibrate the Laser mounting Pose according to NAV-data. More...

Functions
Eigen::Matrix4d	icp (const pointCloud::Ptr source, const pointCloud::Ptr target, double *fitness_score, const double iterations)
	Calls the pcl iterativeClosestPoint-algorithm. More...

Eigen::Matrix4d	icpLM (const pointCloud::Ptr source, const pointCloud::Ptr target, double *fitness_score, const double iterations)
	Calls the pcl iterativeClosestPoint-algorithm levenberg-marquardt alternative (internally) More...

void	downsample (pointCloud::Ptr cloud)
	Simple Voxel-Grid downsampling. More...

void	bilateralFiltering (pointCloud::Ptr organized_cloud)
	Use bilateral filtering. More...

void	movingLeastSquares (pointCloud::Ptr cloud)
	Use moving least squares. More...

void	computeSurfaceNormals (pointCloud::Ptr cloud)
	Compute the surface normals. More...

void	covarianceDownsampling (pointCloud::Ptr cloud)
	Use covariances for downsampling. More...

pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	fastPointFeatureHistogram (const pointCloud::Ptr input)
	Extracts all (F)PFHs. More...

Eigen::Matrix4d	initialAlignment (pointCloud::Ptr source, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr source_descriptors, pointCloud::Ptr target, pcl::PointCloud< pcl::FPFHSignature33 >::Ptr target_descriptors)
	Aligns the point-clouds initially using Sample Consensus. More...

Function Documentation

void filter::bilateralFiltering ( pointCloud::Ptr organized_cloud )

Use bilateral filtering.

Parameters

[in,out] organized_cloud to sample

Definition at line 102 of file pointcloudRegistration.cpp.

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void filter::computeSurfaceNormals ( pointCloud::Ptr cloud )

Compute the surface normals.

Parameters

[in,out] cloud to compute on

Definition at line 146 of file pointcloudRegistration.cpp.

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void filter::covarianceDownsampling ( pointCloud::Ptr cloud )

Use covariances for downsampling.

Parameters

[in,out] cloud to sample

Definition at line 172 of file pointcloudRegistration.cpp.

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void filter::downsample ( pointCloud::Ptr cloud )

Simple Voxel-Grid downsampling.

Parameters

[in,out] cloud point-cloud to sample

Definition at line 88 of file pointcloudRegistration.cpp.

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pcl::PointCloud< pcl::FPFHSignature33 >::Ptr filter::fastPointFeatureHistogram ( const pointCloud::Ptr input )

Extracts all (F)PFHs.

Parameters

input The point-cloud to analyse

Returns: The feature-descriptor

Definition at line 192 of file pointcloudRegistration.cpp.

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Eigen::Matrix4d filter::icp	(	const pointCloud::Ptr	source,
		const pointCloud::Ptr	target,
		double *	fitness_score,
		const double	iterations
	)

Calls the pcl iterativeClosestPoint-algorithm.

SETTINGS NEED TO BE OPTIMISED FOR OUR LASERSCANS!!!

Parameters

source	the source point-cloud (we use last)
target	the target point-cloud (we use latest)
fitness_score	the pointer where to store the error-metric
iterations	Number of iterations to transform

Returns: The transformation between last and latest to register them

Definition at line 24 of file pointcloudRegistration.cpp.

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Eigen::Matrix4d filter::icpLM	(	const pointCloud::Ptr	source,
		const pointCloud::Ptr	target,
		double *	fitness_score,
		const double	iterations
	)

Calls the pcl iterativeClosestPoint-algorithm levenberg-marquardt alternative (internally)

SETTINGS NEED TO BE OPTIMISED FOR OUR LASERSCANS!!!

Parameters

source	the source point-cloud (we use last)
target	the target point-cloud (we use latest)
fitness_score	the pointer where to store the error-metric
iterations	Number of iterations to transform

Returns: The transformation between last and latest to register them

Definition at line 56 of file pointcloudRegistration.cpp.

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Eigen::Matrix4d filter::initialAlignment	(	pointCloud::Ptr	source,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	source_descriptors,
		pointCloud::Ptr	target,
		pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	target_descriptors
	)

Aligns the point-clouds initially using Sample Consensus.

NOT USED AT THE MOMENT!

Parameters

source	The first point-cloud
source_descriptors	The descriptors for the first point-cloud
target	The second point-cloud
target_descriptors	The descriptors for the second point-cloud

Returns: The transformation extracted from initial alignment

Definition at line 214 of file pointcloudRegistration.cpp.

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void filter::movingLeastSquares ( pointCloud::Ptr cloud )

Use moving least squares.

NOT USED AT THE MOMENT!

Parameters

[in,out] cloud to sample

Definition at line 121 of file pointcloudRegistration.cpp.

Data Structures

Functions

Function Documentation