pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > Class Template Reference

TransformationEstimation represents the base class for methods for transformation estimation based on: More...

#include <transformation_estimation.h>

Inheritance diagram for pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >:

List of all members.

Public Types
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget, Scalar > >	ConstPtr
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4
typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
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.
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &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.
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const =0
	Estimate a rigid rotation transformation between a source and a target point cloud.
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.
	TransformationEstimation ()
virtual	~TransformationEstimation ()

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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.

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Member Typedef Documentation

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

typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 124 of file transformation_estimation.h.

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

typedef Eigen::Matrix<Scalar, 4, 4> pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::recognition::TrimmedICP< PointT, Scalar >, pcl::recognition::TrimmedICP< pcl::PointXYZ, float >, pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 65 of file transformation_estimation.h.

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

typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Ptr

Reimplemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 123 of file transformation_estimation.h.

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Constructor & Destructor Documentation

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

pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::TransformationEstimation

(

)

[inline]

Definition at line 67 of file transformation_estimation.h.

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

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

(

)

[inline, virtual]

Definition at line 68 of file transformation_estimation.h.

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Member Function Documentation

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

Implemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >, and pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >.

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

virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	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

Implemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >, and pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >.

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

virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const std::vector< int > &	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 interst points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >, and pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >.

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

Implemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >, and pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >.

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

• transformation_estimation.h