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TransformationEstimation2D implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets. More...

#include <pcl/registration/transformation_estimation_2D.h>

Public Types

using Ptr = shared_ptr< TransformationEstimation2D< PointSource, PointTarget, Scalar > >
using ConstPtr = shared_ptr< const TransformationEstimation2D< PointSource, PointTarget, Scalar > >
using Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4
- Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using Matrix4 = Eigen::Matrix< float, 4, 4 >
using Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, float > >
using ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > >

Public Member Functions

TransformationEstimation2D ()
virtual ~TransformationEstimation2D ()
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid transformation between a source and a target point cloud in 2D. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid transformation between a source and a target point cloud in 2D. 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
Estimate a rigid transformation between a source and a target point cloud in 2D. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const
Estimate a rigid transformation between a source and a target point cloud in 2D. More...
- Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
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...

Protected Member Functions

void estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target. More...
void getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_tgt, Matrix4 &transformation_matrix) const
Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >

TransformationEstimation2D implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets.

The two datasets should already be transformed so that the reference plane equals z = 0.

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
Suat Gedikli

Definition at line 58 of file transformation_estimation_2D.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> >

Definition at line 63 of file transformation_estimation_2D.h.

Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 66 of file transformation_estimation_2D.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> >

Definition at line 61 of file transformation_estimation_2D.h.

Constructor & Destructor Documentation

TransformationEstimation2D()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::TransformationEstimation2D ( )
inline

Definition at line 68 of file transformation_estimation_2D.h.

~TransformationEstimation2D()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::~TransformationEstimation2D ( )
inlinevirtual

Definition at line 69 of file transformation_estimation_2D.h.

Member Function Documentation

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< 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
inlinevirtual

Estimate a rigid transformation between a source and a target point cloud in 2D.

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

Definition at line 90 of file transformation_estimation_2D.hpp.

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< 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
inline

Estimate a rigid transformation between a source and a target point cloud in 2D.

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

Definition at line 69 of file transformation_estimation_2D.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Correspondences & correspondences,
Matrix4 & transformation_matrix
) const
virtual

Estimate a rigid transformation between a source and a target point cloud in 2D.

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

Definition at line 112 of file transformation_estimation_2D.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inline

Estimate a rigid transformation between a source and a target point cloud in 2D.

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

Definition at line 48 of file transformation_estimation_2D.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( ConstCloudIterator< PointSource > & source_it,
ConstCloudIterator< PointTarget > & target_it,
Matrix4 & transformation_matrix
) const
inlineprotected

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

Parameters
[in] source_it an iterator over the source point cloud dataset
[in] target_it an iterator over the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Definition at line 125 of file transformation_estimation_2D.hpp.

References pcl::compute3DCentroid(), pcl::demeanPointCloud(), and pcl::ConstCloudIterator< PointT >::reset().

getTransformationFromCorrelation()

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::getTransformationFromCorrelation ( const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > & cloud_src_demean,
const Eigen::Matrix< Scalar, 4, 1 > & centroid_src,
const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > & cloud_tgt_demean,
const Eigen::Matrix< Scalar, 4, 1 > & centroid_tgt,
Matrix4 & transformation_matrix
) const
protected

Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.

  • tgt'
    Parameters
    [in] cloud_src_demean the input source cloud, demeaned, in Eigen format
    [in] centroid_src the input source centroid, in Eigen format
    [in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
    [in] centroid_tgt the input target cloud, in Eigen format
    [out] transformation_matrix the resultant 4x4 rigid transformation matrix

Definition at line 158 of file transformation_estimation_2D.hpp.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation2_d.html