Point Cloud Library (PCL)
1.7.0
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GeneralizedIterativeClosestPoint is an ICP variant that implements the generalized iterative closest point algorithm as described by Alex Segal et al. More...
#include <pcl/registration/gicp.h>
Classes | |
struct | OptimizationFunctorWithIndices |
optimization functor structure More... | |
Public Types | |
typedef pcl::PointCloud < PointSource > | PointCloudSource |
typedef PointCloudSource::Ptr | PointCloudSourcePtr |
typedef PointCloudSource::ConstPtr | PointCloudSourceConstPtr |
typedef pcl::PointCloud < PointTarget > | PointCloudTarget |
typedef PointCloudTarget::Ptr | PointCloudTargetPtr |
typedef PointCloudTarget::ConstPtr | PointCloudTargetConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
typedef Registration < PointSource, PointTarget > ::KdTree | InputKdTree |
typedef Registration < PointSource, PointTarget > ::KdTreePtr | InputKdTreePtr |
typedef boost::shared_ptr < GeneralizedIterativeClosestPoint < PointSource, PointTarget > > | Ptr |
typedef boost::shared_ptr < const GeneralizedIterativeClosestPoint < PointSource, PointTarget > > | ConstPtr |
typedef Eigen::Matrix< double, 6, 1 > | Vector6d |
Public Member Functions | |
GeneralizedIterativeClosestPoint () | |
Empty constructor. | |
PCL_DEPRECATED (void setInputCloud(const PointCloudSourceConstPtr &cloud),"[pcl::registration::GeneralizedIterativeClosestPoint::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.") | |
Provide a pointer to the input dataset. | |
void | setInputSource (const PointCloudSourceConstPtr &cloud) |
Provide a pointer to the input dataset. | |
void | setInputTarget (const PointCloudTargetConstPtr &target) |
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) | |
void | estimateRigidTransformationBFGS (const PointCloudSource &cloud_src, const std::vector< int > &indices_src, const PointCloudTarget &cloud_tgt, const std::vector< int > &indices_tgt, Eigen::Matrix4f &transformation_matrix) |
Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear Levenberg-Marquardt approach. | |
const Eigen::Matrix3d & | mahalanobis (size_t index) const |
void | computeRDerivative (const Vector6d &x, const Eigen::Matrix3d &R, Vector6d &g) const |
Computes rotation matrix derivative. | |
void | setRotationEpsilon (double epsilon) |
Set the rotation epsilon (maximum allowable difference between two consecutive rotations) in order for an optimization to be considered as having converged to the final solution. | |
double | getRotationEpsilon () |
Get the rotation epsilon (maximum allowable difference between two consecutive rotations) as set by the user. | |
void | setCorrespondenceRandomness (int k) |
Set the number of neighbors used when selecting a point neighbourhood to compute covariances. | |
int | getCorrespondenceRandomness () |
Get the number of neighbors used when computing covariances as set by the user. | |
void | setMaximumOptimizerIterations (int max) |
set maximum number of iterations at the optimization step | |
int | getMaximumOptimizerIterations () |
Protected Member Functions | |
template<typename PointT > | |
void | computeCovariances (typename pcl::PointCloud< PointT >::ConstPtr cloud, const typename pcl::search::KdTree< PointT >::Ptr tree, std::vector< Eigen::Matrix3d > &cloud_covariances) |
compute points covariances matrices according to the K nearest neighbors. | |
double | matricesInnerProd (const Eigen::MatrixXd &mat1, const Eigen::MatrixXd &mat2) const |
void | computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess) |
Rigid transformation computation method with initial guess. | |
bool | searchForNeighbors (const PointSource &query, std::vector< int > &index, std::vector< float > &distance) |
Search for the closest nearest neighbor of a given point. | |
void | applyState (Eigen::Matrix4f &t, const Vector6d &x) const |
compute transformation matrix from transformation matrix | |
Protected Attributes | |
int | k_correspondences_ |
The number of neighbors used for covariances computation. | |
double | gicp_epsilon_ |
The epsilon constant for gicp paper; this is NOT the convergence tolerence default: 0.001. | |
double | rotation_epsilon_ |
The epsilon constant for rotation error. | |
Eigen::Matrix4f | base_transformation_ |
base transformation | |
const PointCloudSource * | tmp_src_ |
Temporary pointer to the source dataset. | |
const PointCloudTarget * | tmp_tgt_ |
Temporary pointer to the target dataset. | |
const std::vector< int > * | tmp_idx_src_ |
Temporary pointer to the source dataset indices. | |
const std::vector< int > * | tmp_idx_tgt_ |
Temporary pointer to the target dataset indices. | |
std::vector< Eigen::Matrix3d > | input_covariances_ |
Input cloud points covariances. | |
std::vector< Eigen::Matrix3d > | target_covariances_ |
Target cloud points covariances. | |
std::vector< Eigen::Matrix3d > | mahalanobis_ |
Mahalanobis matrices holder. | |
int | max_inner_iterations_ |
maximum number of optimizations | |
boost::function< void(const pcl::PointCloud< PointSource > &cloud_src, const std::vector < int > &src_indices, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector < int > &tgt_indices, Eigen::Matrix4f &transformation_matrix)> | rigid_transformation_estimation_ |
GeneralizedIterativeClosestPoint is an ICP variant that implements the generalized iterative closest point algorithm as described by Alex Segal et al.
in http://www.stanford.edu/~avsegal/resources/papers/Generalized_ICP.pdf The approach is based on using anistropic cost functions to optimize the alignment after closest point assignments have been made. The original code uses GSL and ANN while in ours we use an eigen mapped BFGS and FLANN.
typedef boost::shared_ptr< const GeneralizedIterativeClosestPoint<PointSource, PointTarget> > pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::ConstPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef Registration<PointSource, PointTarget>::KdTree pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::InputKdTree |
typedef Registration<PointSource, PointTarget>::KdTreePtr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::InputKdTreePtr |
typedef pcl::PointCloud<PointSource> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudSource |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointCloudSource::ConstPtr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudSourceConstPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointCloudSource::Ptr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudSourcePtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef pcl::PointCloud<PointTarget> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudTarget |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointCloudTarget::ConstPtr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudTargetConstPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointCloudTarget::Ptr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointCloudTargetPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointIndices::ConstPtr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointIndicesConstPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef PointIndices::Ptr pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PointIndicesPtr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef boost::shared_ptr< GeneralizedIterativeClosestPoint<PointSource, PointTarget> > pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::Ptr |
Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget >.
typedef Eigen::Matrix<double, 6, 1> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::Vector6d |
pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::GeneralizedIterativeClosestPoint | ( | ) | [inline] |
Empty constructor.
Definition at line 103 of file gicp.h.
References pcl::Registration< PointSource, PointTarget, float >::corr_dist_threshold_, pcl::Registration< PointSource, PointTarget, float >::max_iterations_, pcl::Registration< PointSource, PointTarget, float >::min_number_correspondences_, pcl::Registration< PointSource, PointTarget, float >::reg_name_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rigid_transformation_estimation_, and pcl::Registration< PointSource, PointTarget, float >::transformation_epsilon_.
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::applyState | ( | Eigen::Matrix4f & | t, |
const Vector6d & | x | ||
) | const [protected] |
compute transformation matrix from transformation matrix
Definition at line 469 of file gicp.hpp.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeCovariances | ( | typename pcl::PointCloud< PointT >::ConstPtr | cloud, |
const typename pcl::search::KdTree< PointT >::Ptr | tree, | ||
std::vector< Eigen::Matrix3d > & | cloud_covariances | ||
) | [protected] |
compute points covariances matrices according to the K nearest neighbors.
K is set via setCorrespondenceRandomness() methode.
cloud | pointer to point cloud |
tree | KD tree performer for nearest neighbors search |
Definition at line 57 of file gicp.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::PointCloud< PointT >::end(), pcl::search::KdTree< PointT >::nearestKSearch(), and pcl::PointCloud< PointT >::size().
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeRDerivative | ( | const Vector6d & | x, |
const Eigen::Matrix3d & | R, | ||
Vector6d & | g | ||
) | const |
Computes rotation matrix derivative.
rotation matrix is obtainded from rotation angles x[3], x[4] and x[5]
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation | ( | PointCloudSource & | output, |
const Eigen::Matrix4f & | guess | ||
) | [inline, protected] |
Rigid transformation computation method with initial guess.
output | the transformed input point cloud dataset using the rigid transformation found |
guess | the initial guess of the transformation to compute |
Definition at line 352 of file gicp.hpp.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::base_transformation_, pcl::Registration< PointSource, PointTarget, float >::converged_, pcl::Registration< PointSource, PointTarget, float >::corr_dist_threshold_, pcl::Registration< PointSource, PointTarget, float >::final_transformation_, pcl::Registration< PointSource, PointTarget, float >::getClassName(), pcl::PCLBase< PointSource >::indices_, pcl::Registration< PointSource, PointTarget, float >::initComputeReciprocal(), pcl::PCLBase< PointSource >::input_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::input_covariances_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::mahalanobis_, pcl::Registration< PointSource, PointTarget, float >::max_iterations_, pcl::Registration< PointSource, PointTarget, float >::nr_iterations_, pcl::Registration< PointSource, PointTarget, float >::previous_transformation_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rigid_transformation_estimation_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rotation_epsilon_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::searchForNeighbors(), pcl::Registration< PointSource, PointTarget, float >::target_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::target_covariances_, pcl::Registration< PointSource, PointTarget, float >::transformation_, pcl::Registration< PointSource, PointTarget, float >::transformation_epsilon_, pcl::Registration< PointSource, PointTarget, float >::tree_, pcl::Registration< PointSource, PointTarget, float >::tree_reciprocal_, and pcl::PCLException::what().
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::estimateRigidTransformationBFGS | ( | const PointCloudSource & | cloud_src, |
const std::vector< int > & | indices_src, | ||
const PointCloudTarget & | cloud_tgt, | ||
const std::vector< int > & | indices_tgt, | ||
Eigen::Matrix4f & | transformation_matrix | ||
) |
Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear Levenberg-Marquardt approach.
[in] | cloud_src | the source point cloud dataset |
[in] | indices_src | the vector of indices describing the points of interest in cloud_src |
[in] | cloud_tgt | the target point cloud dataset |
[in] | indices_tgt | the vector of indices describing the correspondences of the interst points from indices_src |
[out] | transformation_matrix | the resultant transformation matrix |
Definition at line 190 of file gicp.hpp.
References BFGS< FunctorType >::minimizeInit(), BFGS< FunctorType >::minimizeOneStep(), BFGSSpace::NoProgress, BFGS< FunctorType >::parameters, BFGSSpace::Running, BFGSSpace::Success, and BFGS< FunctorType >::testGradient().
int pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getCorrespondenceRandomness | ( | ) | [inline] |
Get the number of neighbors used when computing covariances as set by the user.
Definition at line 217 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::k_correspondences_.
int pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getMaximumOptimizerIterations | ( | ) | [inline] |
Definition at line 227 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::max_inner_iterations_.
double pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getRotationEpsilon | ( | ) | [inline] |
Get the rotation epsilon (maximum allowable difference between two consecutive rotations) as set by the user.
Definition at line 202 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rotation_epsilon_.
const Eigen::Matrix3d& pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::mahalanobis | ( | size_t | index | ) | const [inline] |
Definition at line 174 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::mahalanobis_.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
double pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::matricesInnerProd | ( | const Eigen::MatrixXd & | mat1, |
const Eigen::MatrixXd & | mat2 | ||
) | const [inline, protected] |
pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::PCL_DEPRECATED | ( | void | setInputCloudconst PointCloudSourceConstPtr &cloud, |
" setInputCloud is deprecated. Please use setInputSource instead." | [pcl::registration::GeneralizedIterativeClosestPoint::setInputCloud] | ||
) |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
bool pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::searchForNeighbors | ( | const PointSource & | query, |
std::vector< int > & | index, | ||
std::vector< float > & | distance | ||
) | [inline, protected] |
Search for the closest nearest neighbor of a given point.
query | the point to search a nearest neighbour for |
index | vector of size 1 to store the index of the nearest neighbour found |
distance | vector of size 1 to store the distance to nearest neighbour found |
Definition at line 316 of file gicp.h.
References pcl::Registration< PointSource, PointTarget, float >::tree_.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation().
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setCorrespondenceRandomness | ( | int | k | ) | [inline] |
Set the number of neighbors used when selecting a point neighbourhood to compute covariances.
A higher value will bring more accurate covariance matrix but will make covariances computation slower.
k | the number of neighbors to use when computing covariances |
Definition at line 211 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::k_correspondences_.
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setInputSource | ( | const PointCloudSourceConstPtr & | cloud | ) | [inline, virtual] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Reimplemented from pcl::Registration< PointSource, PointTarget, float >.
Definition at line 131 of file gicp.h.
References pcl::Registration< PointSource, PointTarget, float >::getClassName(), pcl::PCLBase< PointSource >::input_, pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::input_covariances_, and pcl::PointCloud< PointT >::size().
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setInputTarget | ( | const PointCloudTargetConstPtr & | target | ) | [inline] |
Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to)
[in] | target | the input point cloud target |
Definition at line 152 of file gicp.h.
References pcl::Registration< PointSource, PointTarget, float >::target_, and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::target_covariances_.
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setMaximumOptimizerIterations | ( | int | max | ) | [inline] |
set maximum number of iterations at the optimization step
[in] | max | maximum number of iterations for the optimizer |
Definition at line 223 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::max_inner_iterations_.
void pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setRotationEpsilon | ( | double | epsilon | ) | [inline] |
Set the rotation epsilon (maximum allowable difference between two consecutive rotations) in order for an optimization to be considered as having converged to the final solution.
epsilon | the rotation epsilon |
Definition at line 196 of file gicp.h.
References pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rotation_epsilon_.
Eigen::Matrix4f pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::base_transformation_ [protected] |
base transformation
Definition at line 249 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::df(), pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::fdf(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
double pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::gicp_epsilon_ [protected] |
std::vector<Eigen::Matrix3d> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::input_covariances_ [protected] |
Input cloud points covariances.
Definition at line 265 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setInputSource().
int pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::k_correspondences_ [protected] |
The number of neighbors used for covariances computation.
default: 20
Definition at line 234 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getCorrespondenceRandomness(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setCorrespondenceRandomness().
std::vector<Eigen::Matrix3d> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::mahalanobis_ [protected] |
Mahalanobis matrices holder.
Definition at line 271 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::mahalanobis().
int pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::max_inner_iterations_ [protected] |
maximum number of optimizations
Definition at line 274 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getMaximumOptimizerIterations(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setMaximumOptimizerIterations().
boost::function<void(const pcl::PointCloud<PointSource> &cloud_src, const std::vector<int> &src_indices, const pcl::PointCloud<PointTarget> &cloud_tgt, const std::vector<int> &tgt_indices, Eigen::Matrix4f &transformation_matrix)> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rigid_transformation_estimation_ [protected] |
Definition at line 343 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::GeneralizedIterativeClosestPoint().
double pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::rotation_epsilon_ [protected] |
The epsilon constant for rotation error.
(In GICP the transformation epsilon is split in rotation part and translation part). default: 2e-3
Definition at line 246 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::getRotationEpsilon(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setRotationEpsilon().
std::vector<Eigen::Matrix3d> pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::target_covariances_ [protected] |
Target cloud points covariances.
Definition at line 268 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::computeTransformation(), and pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::setInputTarget().
const std::vector<int>* pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::tmp_idx_src_ [protected] |
Temporary pointer to the source dataset indices.
Definition at line 258 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
const std::vector<int>* pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::tmp_idx_tgt_ [protected] |
Temporary pointer to the target dataset indices.
Definition at line 261 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
const PointCloudSource* pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::tmp_src_ [protected] |
Temporary pointer to the source dataset.
Definition at line 252 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().
const PointCloudTarget* pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::tmp_tgt_ [protected] |
Temporary pointer to the target dataset.
Definition at line 255 of file gicp.h.
Referenced by pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget >::OptimizationFunctorWithIndices::operator()().