icp_utils Namespace Reference

Functions
def	pcd2xyz (pcd)
def	extract_fpfh (pcd, voxel_size)
def	find_knn_cpu (feat0, feat1, knn=1, return_distance=False)
def	find_correspondences (feats0, feats1, mutual_filter=True)
def	get_teaser_solver (noise_bound)
def	Rt2T (R, t)
def	downsample (points, voxel_size)
def	solve_teaser (src, dst, voxel_size, min_inliers)
def	to_transform_msg (translation, rotation)
def	open3d_to_ros (open3d_cloud)
def	ros_to_open3d (msg)
def	ros_pointcloud_to_points (pc_msg)
def	downsample_ros_pointcloud (pc_msg, voxel_size)
def	compute_transform (src, dst, voxel_size, min_inliers)

Variables
list	FIELDS_XYZ

Function Documentation

compute_transform()

def icp_utils.compute_transform	(		src,
			dst,
			voxel_size,
			min_inliers
	)

Computes a 3D transform between 2 point clouds using TEASER++.

Be careful: TEASER++ computes the transform from dst to src.

Args:
    src (Open3D point cloud): pointcloud from
    dst (Open3D point cloud): pointcloud to
    voxel_size (int): Voxel size
    min_inliers (int): Minimum number of inlier points correspondance to consider the registration a success

Returns:
    (Transform, bool): transform and success flag

Definition at line 174 of file icp_utils.py.

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downsample()

def icp_utils.downsample	(		points,
			voxel_size
	)

Definition at line 93 of file icp_utils.py.

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downsample_ros_pointcloud()

def icp_utils.downsample_ros_pointcloud	(		pc_msg,
			voxel_size
	)

Definition at line 170 of file icp_utils.py.

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extract_fpfh()

def icp_utils.extract_fpfh	(		pcd,
			voxel_size
	)

Definition at line 26 of file icp_utils.py.

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find_correspondences()

def icp_utils.find_correspondences	(		feats0,
			feats1,
			mutual_filter = True
	)

Definition at line 49 of file icp_utils.py.

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find_knn_cpu()

def icp_utils.find_knn_cpu	(		feat0,
			feat1,
			knn = 1,
			return_distance = False
	)

Definition at line 40 of file icp_utils.py.

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get_teaser_solver()

def icp_utils.get_teaser_solver

(

noise_bound

)

Definition at line 68 of file icp_utils.py.

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open3d_to_ros()

def icp_utils.open3d_to_ros

(

open3d_cloud

)

Definition at line 152 of file icp_utils.py.

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pcd2xyz()

def icp_utils.pcd2xyz

(

pcd

)

Definition at line 22 of file icp_utils.py.

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ros_pointcloud_to_points()

def icp_utils.ros_pointcloud_to_points

(

pc_msg

)

Definition at line 166 of file icp_utils.py.

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ros_to_open3d()

def icp_utils.ros_to_open3d

(

msg

)

Definition at line 159 of file icp_utils.py.

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Rt2T()

def icp_utils.Rt2T	(		R,
			t
	)

Definition at line 86 of file icp_utils.py.

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solve_teaser()

def icp_utils.solve_teaser	(		src,
			dst,
			voxel_size,
			min_inliers
	)

Definition at line 99 of file icp_utils.py.

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to_transform_msg()

def icp_utils.to_transform_msg	(		translation,
			rotation
	)

Definition at line 138 of file icp_utils.py.

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Variable Documentation

FIELDS_XYZ

list icp_utils.FIELDS_XYZ

Initial value:

=  [
    PointField(name='x', offset=0, datatype=PointField.FLOAT32, count=1),
    PointField(name='y', offset=4, datatype=PointField.FLOAT32, count=1),
    PointField(name='z', offset=8, datatype=PointField.FLOAT32, count=1),
]

Definition at line 13 of file icp_utils.py.