pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar > Class Template Reference

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default. More...

#include <icp.h>

Inheritance diagram for pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >:

List of all members.

Public Types
typedef boost::shared_ptr < const IterativeClosestPoint < PointSource, PointTarget, Scalar > >	ConstPtr
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudSource	PointCloudSource
typedef IterativeClosestPoint < PointSource, PointTarget, Scalar >::PointCloudTarget	PointCloudTarget
typedef boost::shared_ptr < IterativeClosestPoint < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
	IterativeClosestPointWithNormals ()
	Empty constructor.
virtual	~IterativeClosestPointWithNormals ()
	Empty destructor.
Protected Member Functions
virtual void	transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
	Apply a rigid transform to a given dataset.

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Detailed Description

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

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

Author:

Radu B. Rusu

Definition at line 290 of file registration/include/pcl/registration/icp.h.

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Member Typedef Documentation

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

typedef boost::shared_ptr<const IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 302 of file registration/include/pcl/registration/icp.h.

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

typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 295 of file registration/include/pcl/registration/icp.h.

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

typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudSource

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 293 of file registration/include/pcl/registration/icp.h.

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

typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudTarget

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 294 of file registration/include/pcl/registration/icp.h.

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

typedef boost::shared_ptr<IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 301 of file registration/include/pcl/registration/icp.h.

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Constructor & Destructor Documentation

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

pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::IterativeClosestPointWithNormals

(

)

[inline]

Empty constructor.

Definition at line 305 of file registration/include/pcl/registration/icp.h.

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

virtual pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::~IterativeClosestPointWithNormals

(

)

[inline, virtual]

Empty destructor.

Definition at line 313 of file registration/include/pcl/registration/icp.h.

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Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::transformCloud	(	const PointCloudSource &	input,
		PointCloudSource &	output,
		const Matrix4 &	transform
	)		[protected, virtual]

Apply a rigid transform to a given dataset.

Parameters:

[in]	input	the input point cloud
[out]	output	the resultant output point cloud
[in]	transform	a 4x4 rigid transformation

Note:

Can be used with cloud_in equal to cloud_out

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 232 of file icp.hpp.

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

• registration/include/pcl/registration/icp.h
• icp.hpp