Basic Image AlgorithmS Library  2.8.0
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Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
BIAS::clfTrimmedICP Class Reference

#include <OpenCLFramework/Algorithm/clfTrimmedICP.hh>

+ Inheritance diagram for BIAS::clfTrimmedICP:
+ Collaboration diagram for BIAS::clfTrimmedICP:

Public Member Functions

void AddDebugLevel (const long int lv)
 
void AddDebugLevel (const std::string &name)
 
 clfTrimmedICP (int w=640, int h=480)
 
int Compute (float nearestDistance, unsigned int numberOfPoints)
 
bool DebugLevelIsSet (const long int lv) const
 
bool DebugLevelIsSet (const std::string &name) const
 
int Fuse (float nearestDistance)
 
BIAS::glfVertexBuffer * GetData ()
 
int GetDebugLevel () const
 
std::ostream & GetDebugStream () const
 
void GetDebugStream (std::ostream &os) const
 
BIAS::glfVertexBuffer * GetModel ()
 
BIAS::ProjectionParametersBase * GetParams ()
 
long int Name2DebugLevel (const std::string &name) const
 looks up a debuglevel in the internal map, returns 0 if not found More...
 
long int NewDebugLevel (const std::string &name)
 creates a new debuglevel More...
 
void PrintDebugLevel (std::ostream &os=std::cout) const
 
void RemoveDebugLevel (const long int lv)
 
void RemoveDebugLevel (const std::string &name)
 
unsigned int SetDataFromDepthMap (const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage)
 
void SetDebugLevel (const long int lv)
 
void SetDebugLevel (const std::string &name)
 
void SetDebugStream (const std::ostream &os)
 
void SetMaxIterations (unsigned int maxiterations)
 
unsigned int SetModelFromDepthMap (const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage)
 
void ShowDebugLevel (std::ostream &os=std::cout) const
 prints all internally known debuglevels More...
 
 ~clfTrimmedICP ()
 

Static Public Member Functions

static bool comparePairByDistance (icppair a, icppair b)
 
static bool compareVectorByValue (icpvecandval a, icpvecandval b)
 
static long int GetGlobalDebugLevel ()
 
static void SetGlobalDebugLevel (long int lev)
 

Protected Member Functions

int ComputeNearestPoints_ (float nearestDistance, unsigned int numberOfPoints, float &res)
 
int ComputeOptimalMotion_ (BIAS::Vector3< double > &c, BIAS::RMatrix &R)
 
long ConsumeNextFreeDebuglevel_ ()
 returns the next available debuglevel More...
 
unsigned int setFromDepthMap_ (BIAS::glfVertexBuffer &buffer, const BIAS::Camera< float > depthMap, const BIAS::Camera< unsigned char > ampImage, bool keep=false, bool padData=false)
 

Protected Attributes

long int _liDebugLevel
 
long int _liNextDebugLevel
 new concept, debuglevel are managed here in the debug class More...
 
std::map< std::string, long int > _String2Debuglevel
 
BIAS::Vector3< double > centerA_
 
BIAS::Vector3< double > centerB_
 
clfContext context_
 
clfBuffer * dataBuffer_
 
BIAS::ProjectionParametersBase * dataParams_
 
unsigned int datapointcnt_
 
BIAS::glfVertexBuffer dataPoints_
 
float * distToSort_
 
int h_
 
BIAS::Camera< float > inDepth_
 
BIAS::Camera< unsigned char > inTex_
 
unsigned int iterationCounter_
 
float lasterror_
 
int maxComputeUnits_
 
unsigned int maxIterations_
 
clfBuffer * modelBuffer_
 
BIAS::ProjectionParametersBase * modelParams_
 
unsigned int modelpointcnt_
 
BIAS::glfVertexBuffer modelPoints_
 
unsigned int numberOfPoints_
 
clfBuffer * outBuffer_
 
std::vector< icppair > pairs_
 
clfProgram * programCL_
 
clfRadixSort radixsort_
 
unsigned int sizeofvertex_
 
unsigned int * sortedidx_
 
BIAS::glfVertexFormat vertexFormat_
 
int w_
 

Static Protected Attributes

static std::ostream _zDebugStream
 
static long int GlobalDebugLevel = 0
 

Detailed Description

Definition at line 52 of file clfTrimmedICP.hh.

Constructor & Destructor Documentation

clfTrimmedICP::clfTrimmedICP ( int  w = 640,
int  h = 480 
)

Definition at line 25 of file clfTrimmedICP.cpp.

References BIAS::glfVertexFormat::AddAttribute(), BIAS::clfProgram::AddKernel(), BIAS::clfProgram::AddSource(), BIAS::clfBuffer::Allocate(), BIAS::glfVertexFormat::ATTRIB_COLOR, BIAS::glfVertexFormat::ATTRIB_POSITION, BIAS::clfProgram::Build(), context_, BIAS::glfVertexBuffer::Create(), BIAS::clfContext::CreateBuffer(), BIAS::clfContext::CreateProgram(), dataBuffer_, dataPoints_, distToSort_, BIAS::clfContext::GetDeviceInfo(), h_, iterationCounter_, BIAS::clfProgram::KernelSetArgument(), lasterror_, clfDeviceInfo::maxComputeUnits, maxComputeUnits_, maxIterations_, modelBuffer_, modelPoints_, outBuffer_, pairs_, programCL_, sizeofvertex_, sortedidx_, vertexFormat_, and w_.

clfTrimmedICP::~clfTrimmedICP ( )

Definition at line 62 of file clfTrimmedICP.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int  lv)
inlineinherited
Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 362 of file Debug.hh.

static bool BIAS::clfTrimmedICP::comparePairByDistance ( icppair  a,
icppair  b 
)
inlinestatic

Definition at line 79 of file clfTrimmedICP.hh.

References BIAS::icppair::distance.

Referenced by ComputeNearestPoints_().

static bool BIAS::clfTrimmedICP::compareVectorByValue ( icpvecandval  a,
icpvecandval  b 
)
inlinestatic

Definition at line 83 of file clfTrimmedICP.hh.

References BIAS::icpvecandval::value.

Referenced by ComputeOptimalMotion_().

int clfTrimmedICP::Compute ( float  nearestDistance,
unsigned int  numberOfPoints 
)

Definition at line 159 of file clfTrimmedICP.cpp.

References centerA_, centerB_, ComputeNearestPoints_(), ComputeOptimalMotion_(), dataParams_, BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), iterationCounter_, lasterror_, maxIterations_, BIAS::ProjectionParametersBase::SetC(), BIAS::ProjectionParametersBase::SetR(), and BIAS::Vector3< T >::SetZero().

int clfTrimmedICP::ComputeNearestPoints_ ( float  nearestDistance,
unsigned int  numberOfPoints,
float &  res 
)
protected

Definition at line 285 of file clfTrimmedICP.cpp.

References BIAS::clfContext::AcquireGLObject(), comparePairByDistance(), context_, dataBuffer_, datapointcnt_, distToSort_, BIAS::clfContext::Finish(), BIAS::clfException::GetDetailedString(), BIAS::clfRadixSort::GetPermutation(), h_, BIAS::clfBuffer::MapBuffer(), maxComputeUnits_, modelBuffer_, numberOfPoints_, outBuffer_, pairs_, programCL_, radixsort_, BIAS::clfRadixSort::RecupGPU(), BIAS::clfContext::ReleaseGLObject(), BIAS::clfContext::RunOn1DRange(), BIAS::clfRadixSort::SetData(), BIAS::clfRadixSort::Sort(), sortedidx_, BIAS::clfMemory::UnMap(), and w_.

Referenced by Compute().

int clfTrimmedICP::ComputeOptimalMotion_ ( BIAS::Vector3< double > &  c,
BIAS::RMatrix &  R 
)
protected

Definition at line 392 of file clfTrimmedICP.cpp.

References BIAS::clfContext::AcquireGLObject(), centerA_, centerB_, compareVectorByValue(), context_, dataBuffer_, datapointcnt_, BIAS::Vector3< T >::DivideIP(), BIAS::clfContext::Finish(), BIAS::Matrix3x3< T >::GetData(), BIAS::Matrix< T >::GetRow(), BIAS::Matrix< T >::GetRows(), BIAS::SVD::GetVT(), BIAS::Matrix3x3< T >::InvertIP(), BIAS::clfBuffer::MapBuffer(), maxComputeUnits_, numberOfPoints_, outBuffer_, pairs_, programCL_, BIAS::clfContext::ReleaseGLObject(), BIAS::clfContext::RunOn1DRange(), BIAS::RMatrixBase::SetFromQuaternion(), BIAS::Matrix3x3< T >::SetZero(), sortedidx_, BIAS::clfMemory::UnMap(), BIAS::icpvecandval::value, and BIAS::icpvecandval::vector.

Referenced by Compute().

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )
inlineprotectedinherited

returns the next available debuglevel

Author
woelk 09/2006

Definition at line 521 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv) const
inlineinherited
Examples:
ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name) const
inlineinherited

Definition at line 350 of file Debug.hh.

int clfTrimmedICP::Fuse ( float  nearestDistance)

Definition at line 197 of file clfTrimmedICP.cpp.

BIAS::glfVertexBuffer* BIAS::clfTrimmedICP::GetData ( )
inline

Definition at line 64 of file clfTrimmedICP.hh.

int BIAS::Debug::GetDebugLevel ( ) const
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const
inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream &  os) const
inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )
inlinestaticinherited

Definition at line 431 of file Debug.hh.

BIAS::glfVertexBuffer* BIAS::clfTrimmedICP::GetModel ( )
inline

Definition at line 67 of file clfTrimmedICP.hh.

BIAS::ProjectionParametersBase* BIAS::clfTrimmedICP::GetParams ( )
inline

Definition at line 71 of file clfTrimmedICP.hh.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name) const
inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author
woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name)
inlineinherited

creates a new debuglevel

Author
woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv)
inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 376 of file Debug.hh.

unsigned int clfTrimmedICP::SetDataFromDepthMap ( const BIAS::Camera< float >  depthMap,
const BIAS::Camera< unsigned char >  ampImage 
)

Definition at line 76 of file clfTrimmedICP.cpp.

References BIAS::clfBuffer::AllocateFromVertexBuffer(), context_, BIAS::clfContext::CreateBuffer(), dataBuffer_, dataParams_, datapointcnt_, dataPoints_, BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), BIAS::clfProgram::KernelSetArgument(), programCL_, and setFromDepthMap_().

void BIAS::Debug::SetDebugLevel ( const long int  lv)
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream &  os)
inlineinherited

Definition at line 398 of file Debug.hh.

unsigned int clfTrimmedICP::setFromDepthMap_ ( BIAS::glfVertexBuffer &  buffer,
const BIAS::Camera< float >  depthMap,
const BIAS::Camera< unsigned char >  ampImage,
bool  keep = false,
bool  padData = false 
)
protected

Definition at line 90 of file clfTrimmedICP.cpp.

References BIAS::HomgPoint3D::GetEuclidean(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), h_, inDepth_, inTex_, lasterror_, BIAS::glfVertexBuffer::Map(), maxComputeUnits_, BIAS::HomgPoint2D::Set(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepth(), BIAS::glfVertexBuffer::Unmap(), BIAS::ProjectionParametersBase::UnProjectToPoint(), and w_.

Referenced by SetDataFromDepthMap(), and SetModelFromDepthMap().

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev)
inlinestaticinherited

Definition at line 424 of file Debug.hh.

void BIAS::clfTrimmedICP::SetMaxIterations ( unsigned int  maxiterations)
inline

Definition at line 75 of file clfTrimmedICP.hh.

unsigned int clfTrimmedICP::SetModelFromDepthMap ( const BIAS::Camera< float >  depthMap,
const BIAS::Camera< unsigned char >  ampImage 
)

Definition at line 65 of file clfTrimmedICP.cpp.

References BIAS::clfBuffer::AllocateFromVertexBuffer(), context_, BIAS::clfContext::CreateBuffer(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::Camera< StorageType >::GetProj(), BIAS::clfProgram::KernelSetArgument(), modelBuffer_, modelParams_, modelpointcnt_, modelPoints_, programCL_, and setFromDepthMap_().

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

prints all internally known debuglevels

Author
woelk 09/2006

Definition at line 496 of file Debug.hh.

Member Data Documentation

long int BIAS::Debug::_liDebugLevel
protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel
protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel
protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream
staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

BIAS::Vector3<double> BIAS::clfTrimmedICP::centerA_
protected

Definition at line 103 of file clfTrimmedICP.hh.

Referenced by Compute(), and ComputeOptimalMotion_().

BIAS::Vector3<double> BIAS::clfTrimmedICP::centerB_
protected

Definition at line 103 of file clfTrimmedICP.hh.

Referenced by Compute(), and ComputeOptimalMotion_().

clfContext BIAS::clfTrimmedICP::context_
protected

Definition at line 110 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), SetDataFromDepthMap(), and SetModelFromDepthMap().

clfBuffer* BIAS::clfTrimmedICP::dataBuffer_
protected

Definition at line 115 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), and SetDataFromDepthMap().

BIAS::ProjectionParametersBase* BIAS::clfTrimmedICP::dataParams_
protected

Definition at line 99 of file clfTrimmedICP.hh.

Referenced by Compute(), and SetDataFromDepthMap().

unsigned int BIAS::clfTrimmedICP::datapointcnt_
protected

Definition at line 96 of file clfTrimmedICP.hh.

Referenced by ComputeNearestPoints_(), ComputeOptimalMotion_(), and SetDataFromDepthMap().

BIAS::glfVertexBuffer BIAS::clfTrimmedICP::dataPoints_
protected

Definition at line 93 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), and SetDataFromDepthMap().

float* BIAS::clfTrimmedICP::distToSort_
protected

Definition at line 121 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), and ComputeNearestPoints_().

long int BIAS::Debug::GlobalDebugLevel = 0
staticprotectedinherited

Definition at line 513 of file Debug.hh.

int BIAS::clfTrimmedICP::h_
protected

Definition at line 108 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and setFromDepthMap_().

BIAS::Camera<float> BIAS::clfTrimmedICP::inDepth_
protected

Definition at line 101 of file clfTrimmedICP.hh.

Referenced by setFromDepthMap_().

BIAS::Camera<unsigned char> BIAS::clfTrimmedICP::inTex_
protected

Definition at line 102 of file clfTrimmedICP.hh.

Referenced by setFromDepthMap_().

unsigned int BIAS::clfTrimmedICP::iterationCounter_
protected

Definition at line 105 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), and Compute().

float BIAS::clfTrimmedICP::lasterror_
protected

Definition at line 107 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), Compute(), and setFromDepthMap_().

int BIAS::clfTrimmedICP::maxComputeUnits_
protected

Definition at line 125 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), and setFromDepthMap_().

unsigned int BIAS::clfTrimmedICP::maxIterations_
protected

Definition at line 105 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), and Compute().

clfBuffer* BIAS::clfTrimmedICP::modelBuffer_
protected

Definition at line 114 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and SetModelFromDepthMap().

BIAS::ProjectionParametersBase * BIAS::clfTrimmedICP::modelParams_
protected

Definition at line 99 of file clfTrimmedICP.hh.

Referenced by SetModelFromDepthMap().

unsigned int BIAS::clfTrimmedICP::modelpointcnt_
protected

Definition at line 96 of file clfTrimmedICP.hh.

Referenced by SetModelFromDepthMap().

BIAS::glfVertexBuffer BIAS::clfTrimmedICP::modelPoints_
protected

Definition at line 94 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), and SetModelFromDepthMap().

unsigned int BIAS::clfTrimmedICP::numberOfPoints_
protected

Definition at line 118 of file clfTrimmedICP.hh.

Referenced by ComputeNearestPoints_(), and ComputeOptimalMotion_().

clfBuffer* BIAS::clfTrimmedICP::outBuffer_
protected

Definition at line 116 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().

std::vector<icppair> BIAS::clfTrimmedICP::pairs_
protected

Definition at line 100 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().

clfProgram* BIAS::clfTrimmedICP::programCL_
protected

Definition at line 112 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), ComputeOptimalMotion_(), SetDataFromDepthMap(), and SetModelFromDepthMap().

clfRadixSort BIAS::clfTrimmedICP::radixsort_
protected

Definition at line 123 of file clfTrimmedICP.hh.

Referenced by ComputeNearestPoints_().

unsigned int BIAS::clfTrimmedICP::sizeofvertex_
protected

Definition at line 105 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP().

unsigned int* BIAS::clfTrimmedICP::sortedidx_
protected

Definition at line 120 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and ComputeOptimalMotion_().

BIAS::glfVertexFormat BIAS::clfTrimmedICP::vertexFormat_
protected

Definition at line 95 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP().

int BIAS::clfTrimmedICP::w_
protected

Definition at line 108 of file clfTrimmedICP.hh.

Referenced by clfTrimmedICP(), ComputeNearestPoints_(), and setFromDepthMap_().

The documentation for this class was generated from the following files:
Generated on Tue Feb 6 2018 02:01:50 for Basic Image AlgorithmS Library by   doxygen 1.8.5