TransformationEstimationMultipleCorrespondences< Point > Class Template Reference

#include <tf_est_multi_cors.h>

List of all members.

Classes
struct	COR_S
	search structure More...
struct	SORT_S2
	search structure More...
Public Member Functions
Eigen::Matrix4f	compute (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new)
	use this function for speed
void	setMaxAngularDistance (const float f)
	max. rotation movement beteween frames
void	setMaxTranslationDistance (const float f)
	max. translation movement beteween frames
	TransformationEstimationMultipleCorrespondences ()
Protected Member Functions
virtual void	computeTransformation (PointCloudSource &output)
virtual void	computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess)
Eigen::Matrix4f	findTF_fast (const pcl::PointCloud< Point > &pc_old, const pcl::PointCloud< Point > &pc_new, const float rmax=0.1, const float tmax=0.1, Eigen::Matrix4f tf=Eigen::Matrix4f::Identity())
int	search_sorted_vector (const std::vector< SORT_S2 > &tv, const float val)
Protected Attributes
float	rmax_
float	tmax_
Private Types
typedef pcl::Registration < Point, Point > ::PointCloudSource	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr

---

Detailed Description

template<typename Point>
class TransformationEstimationMultipleCorrespondences< Point >

global transformation estimation using HIRN implications

Definition at line 77 of file tf_est_multi_cors.h.

---

Member Typedef Documentation

template<typename Point>

typedef pcl::Registration<Point, Point>::PointCloudSource TransformationEstimationMultipleCorrespondences< Point >::PointCloudSource [private]

Definition at line 94 of file tf_est_multi_cors.h.

template<typename Point>

typedef PointCloudSource::ConstPtr TransformationEstimationMultipleCorrespondences< Point >::PointCloudSourceConstPtr [private]

Definition at line 96 of file tf_est_multi_cors.h.

template<typename Point>

typedef PointCloudSource::Ptr TransformationEstimationMultipleCorrespondences< Point >::PointCloudSourcePtr [private]

Definition at line 95 of file tf_est_multi_cors.h.

---

Constructor & Destructor Documentation

template<typename Point>

TransformationEstimationMultipleCorrespondences< Point >::TransformationEstimationMultipleCorrespondences

(

)

[inline]

Definition at line 99 of file tf_est_multi_cors.h.

---

Member Function Documentation

template<typename Point >

Eigen::Matrix4f TransformationEstimationMultipleCorrespondences< Point >::compute	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new
	)

use this function for speed

Definition at line 77 of file tf_est_multi_cors.hpp.

template<typename Point >

void TransformationEstimationMultipleCorrespondences< Point >::computeTransformation

(

PointCloudSource &

output

)

[protected, virtual]

Definition at line 70 of file tf_est_multi_cors.hpp.

template<typename Point>

virtual void TransformationEstimationMultipleCorrespondences< Point >::computeTransformation	(	PointCloudSource &	output,
		const Eigen::Matrix4f &	guess
	)		[inline, protected, virtual]

Definition at line 118 of file tf_est_multi_cors.h.

template<typename Point >

Eigen::Matrix4f TransformationEstimationMultipleCorrespondences< Point >::findTF_fast	(	const pcl::PointCloud< Point > &	pc_old,
		const pcl::PointCloud< Point > &	pc_new,
		const float	rmax = 0.1,
		const float	tmax = 0.1,
		Eigen::Matrix4f	tf = Eigen::Matrix4f::Identity()
	)		[protected]

Definition at line 84 of file tf_est_multi_cors.hpp.

template<typename Point >

int TransformationEstimationMultipleCorrespondences< Point >::search_sorted_vector	(	const std::vector< SORT_S2 > &	tv,
		const float	val
	)		[protected]

Definition at line 171 of file tf_est_multi_cors.hpp.

template<typename Point>

void TransformationEstimationMultipleCorrespondences< Point >::setMaxAngularDistance

(

const float

f

)

[inline]

max. rotation movement beteween frames

Definition at line 106 of file tf_est_multi_cors.h.

template<typename Point>

void TransformationEstimationMultipleCorrespondences< Point >::setMaxTranslationDistance

(

const float

f

)

[inline]

max. translation movement beteween frames

Definition at line 108 of file tf_est_multi_cors.h.

---

Member Data Documentation

template<typename Point>

float TransformationEstimationMultipleCorrespondences< Point >::rmax_ [protected]

Definition at line 126 of file tf_est_multi_cors.h.

template<typename Point>

float TransformationEstimationMultipleCorrespondences< Point >::tmax_ [protected]

Definition at line 126 of file tf_est_multi_cors.h.

---

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

• tf_est_multi_cors.h
• tf_est_multi_cors.hpp