This component performs Point-To-Plane registration between two pointclouds based on Point Cloud Library (PCL). More...
#include <SolARICPNormalsPCL.h>
Inheritance diagram for SolAR::MODULES::PCL::SolARICPNormals:
Collaboration diagram for SolAR::MODULES::PCL::SolARICPNormals:
Public Member Functions | |
| FrameworkReturnCode | estimate (const SRef< datastructure::PointCloud > sourcePointCloud, const SRef< datastructure::PointCloud > targetPointCloud, datastructure::Transform3Df &pose, const datastructure::Transform3Df &initialPose=datastructure::Transform3Df::Identity()) override final |
| Estimates depth sensor pose from a set of 3D points captured by the depth sensor and defined in the depth sensor coordinate and a point cloud representing the real world geometry. More... | |
| void | unloadComponent () override final |
Detailed Description
This component performs Point-To-Plane registration between two pointclouds based on Point Cloud Library (PCL).
Member Function Documentation
◆ estimate()
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finaloverride |
Estimates depth sensor pose from a set of 3D points captured by the depth sensor and defined in the depth sensor coordinate and a point cloud representing the real world geometry.
- Parameters
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[in] sourcePointCloud,a point cloud captured by the depth sensor defined in the depth sensor coordinate system. [in] targetPointCloud,a point cloud representing the geometry of the real world. [out] pose,depth camera pose (pose of the depth camera defined in world coordinate system) expressed as a Transform3D. [in] initialPose (Optional), a transform3D to initialize the pose (reducing the convergence time and improving its success).
The documentation for this class was generated from the following file:
- SolARModulePCL/interfaces/SolARICPNormalsPCL.h
