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TransformationEstimation3Points represents the class for transformation estimation based on: More...

#include <pcl/registration/transformation_estimation_3point.h>

Public Member Functions

TransformationEstimation3Point ()
Constructor. More...
~TransformationEstimation3Point ()
Destructor. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud. More...
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 override
Estimate a rigid rotation transformation between a source and a target point cloud. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud. More...
- Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
TransformationEstimation ()
virtual ~TransformationEstimation ()

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...

Additional Inherited Members

- 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 > >

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >

TransformationEstimation3Points represents the class for transformation estimation based on:

  • correspondence vectors of 3 pairs (planar case)
  • two point clouds (source and target) of size 3
  • a point cloud with a set of 3 indices (source), and another point cloud (target)
  • two point clouds with two sets of indices (source and target) of the size 3
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
P.W.Theiler

Definition at line 58 of file transformation_estimation_3point.h.

Constructor & Destructor Documentation

TransformationEstimation3Point()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::TransformationEstimation3Point ( )
inline

Constructor.

Definition at line 71 of file transformation_estimation_3point.h.

~TransformationEstimation3Point()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::~TransformationEstimation3Point ( )
inline

Destructor.

Definition at line 74 of file transformation_estimation_3point.h.

Member Function Documentation

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< 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
inlineoverridevirtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, float >.

Definition at line 91 of file transformation_estimation_3point.hpp.

References pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation().

Referenced by pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation().

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< 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
overridevirtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, float >.

Definition at line 68 of file transformation_estimation_3point.hpp.

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

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Correspondences & correspondences,
Matrix4 & transformation_matrix
) const
overridevirtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, float >.

Definition at line 114 of file transformation_estimation_3point.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inlineoverridevirtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, float >.

Definition at line 47 of file transformation_estimation_3point.hpp.

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

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< 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 135 of file transformation_estimation_3point.hpp.

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

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_estimation3_point.html