#include <transformation_estimation_2D.h>

Inheritance diagram for pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >:

Public Types
typedef boost::shared_ptr < const TransformationEstimation2D < PointSource, PointTarget, Scalar > >	ConstPtr
typedef TransformationEstimation < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef boost::shared_ptr < TransformationEstimation2D < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
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.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &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.
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
	Estimate a rigid transformation between a source and a target point cloud in 2D.
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.
	TransformationEstimation2D ()
virtual	~TransformationEstimation2D ()
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.
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 * tgt'.

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 59 of file transformation_estimation_2D.h.

Member Typedef Documentation

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

typedef boost::shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 63 of file transformation_estimation_2D.h.

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

typedef TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 65 of file transformation_estimation_2D.h.

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

typedef boost::shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 62 of file transformation_estimation_2D.h.

Constructor & Destructor Documentation

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

pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::TransformationEstimation2D ( ) [inline]

Definition at line 67 of file transformation_estimation_2D.h.

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

virtual pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::~TransformationEstimation2D ( ) [inline, virtual]

Definition at line 68 of file transformation_estimation_2D.h.

Member Function Documentation

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, 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
[out]	transformation_matrix	the resultant transformation matrix

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

Definition at line 42 of file transformation_estimation_2D.hpp.

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimation2D< 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 `[inline, 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]	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, Scalar >.

Definition at line 61 of file transformation_estimation_2D.hpp.

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimation2D< 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 `[inline, 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]	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

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

Definition at line 81 of file transformation_estimation_2D.hpp.

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

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

Definition at line 101 of file transformation_estimation_2D.hpp.

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 `[inline, protected]`

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 114 of file transformation_estimation_2D.hpp.

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 140 of file transformation_estimation_2D.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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