cl_algo::ICP::ICPStep< CR, CW > Class Template Reference

Interface class for the ICP pipeline. More...

#include <algorithms.hpp>

Inheritance diagram for cl_algo::ICP::ICPStep< CR, CW >:

Detailed Description

template<ICPStepConfigT CR, ICPStepConfigW CW>
class cl_algo::ICP::ICPStep< CR, CW >

Interface class for the ICP pipeline.

Performs one ICP iteration. It accepts two sets (fixed and moving) of landmarks, estimates the relative homogeneous transformation \( T_k \) between them, and transforms the moving set according to this transformation.

Note

The implemented algorithms are described by Horn in Closed-Form Solution of Absolute Orientation Using Unit Quaternions and by Arun et al. in Least-Squares Fitting of Two 3-D Point Sets.

This is just a declaration. Look at the explicit template specializations for specific instantiations of the class.

Template Parameters

CR	configures the class with different methods of rotation computation.
CW	configures the class for performing either regular or weighted computation.

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

• algorithms.hpp