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TransformationEstimation represents the base class for methods for transformation estimation based on: More...

#include <pcl/registration/transformation_estimation.h>

Public Types

using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
using Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >
using ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >

Public Member Functions

TransformationEstimation ()=default
virtual ~TransformationEstimation ()=default
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >

TransformationEstimation represents the base class for methods for transformation estimation based on:

  • correspondence vectors
  • two point clouds (source and target) of the same size
  • a point cloud with a set of indices (source), and another point cloud (target)
  • two point clouds with two sets of indices (source and target) of the same size
Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
Author
Dirk Holz, Radu B. Rusu

Definition at line 62 of file transformation_estimation.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> >

Definition at line 119 of file transformation_estimation.h.

Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4>

Definition at line 64 of file transformation_estimation.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> >

Definition at line 118 of file transformation_estimation.h.

Constructor & Destructor Documentation

TransformationEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::TransformationEstimation ( )
default

~TransformationEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::~TransformationEstimation ( )
virtualdefault

Member Function Documentation

estimateRigidTransformation() [1/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Indices & indices_tgt,
Matrix4 & transformation_matrix
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

Parameters
[in] cloud_src the source point cloud dataset
[in] indices_src the vector of indices describing the points of interest in cloud_src
[in] cloud_tgt the target point cloud dataset
[in] indices_tgt the vector of indices describing the correspondences of the interest points from indices_src
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

estimateRigidTransformation() [2/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

Parameters
[in] cloud_src the source point cloud dataset
[in] indices_src the vector of indices describing the points of interest in cloud_src
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

estimateRigidTransformation() [3/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Correspondences & correspondences,
Matrix4 & transformation_matrix
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

Parameters
[in] cloud_src the source point cloud dataset
[in] cloud_tgt the target point cloud dataset
[in] correspondences the vector of correspondences between source and target point cloud
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

estimateRigidTransformation() [4/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

Parameters
[in] cloud_src the source point cloud dataset
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation.html