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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 ()

virtual	~TransformationEstimation ()

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 120 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 ( )

inline

Definition at line 66 of file transformation_estimation.h.

~TransformationEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>

virtual pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::~TransformationEstimation ( )

inlinevirtual

Definition at line 67 of file transformation_estimation.h.

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 >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >, pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >.

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

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

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

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

pcl/registration/transformation_estimation.h

© 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

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

ConstPtr

Matrix4

Ptr

Constructor & Destructor Documentation

TransformationEstimation()

~TransformationEstimation()

Member Function Documentation

estimateRigidTransformation() [1/4]

estimateRigidTransformation() [2/4]

estimateRigidTransformation() [3/4]

estimateRigidTransformation() [4/4]

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