ICPReg< RC, WC > Class Template Reference

Performs the ICP iterations. More...

#include <ocl_icp_reg.hpp>

Public Member Functions
	ICPReg (GLuint *glPC4DBuffer, GLuint *glRGBABuffer)
void	init (std::vector< cl_float8 > pc8d1, std::vector< cl_float8 > pc8d2)
	Initializes the OpenGL buffers. More...
void	registerPC ()
	Performs an ICP registration and transforms the moving point cloud. More...

Detailed Description

template<cl_algo::ICP::ICPStepConfigT RC, cl_algo::ICP::ICPStepConfigW WC>
class ICPReg< RC, WC >

Performs the ICP iterations.

Estimates, step by step, the homogeneous transformation between two point clouds, and transforms the relevant point cloud according to that transformation.

Constructor & Destructor Documentation

template<cl_algo::ICP::ICPStepConfigT RC, cl_algo::ICP::ICPStepConfigW WC>

ICPReg< RC, WC >::ICPReg	(	GLuint *	glPC4DBuffer,
		GLuint *	glRGBABuffer
	)

Initializes the OpenCL environment, the OpenGL buffers, and the processing classes.

Parameters

[in]	glPC4DBuffer	OpenGL vertex buffer id for the geometry points. The buffer holds the information for two point clouds.
[in]	glRGBABuffer	OpenGL vertex buffer id for the color points. The buffer holds the information for two point clouds.

Member Function Documentation

template<cl_algo::ICP::ICPStepConfigT RC, cl_algo::ICP::ICPStepConfigW WC>

void ICPReg< RC, WC >::init	(	std::vector< cl_float8 >	pc8d1,
		std::vector< cl_float8 >	pc8d2
	)

Initializes the OpenGL buffers.

Parameters

[in]	pc8d1	fixed point cloud.
[in]	pc8d2	moving point cloud.

template<cl_algo::ICP::ICPStepConfigT RC, cl_algo::ICP::ICPStepConfigW WC>

void ICPReg< RC, WC >::registerPC

(

)

Performs an ICP registration and transforms the moving point cloud.

Refines an initial estimation of the transformation between the two point clouds, and displays relevant parameters.

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

• ocl_icp_reg.hpp
• ocl_icp_reg.cpp