TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals. More...
#include <transformation_estimation_point_to_plane_lls.h>
Public Member Functions | |
| void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix) |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. | |
| void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix) |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. | |
| 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, Eigen::Matrix4f &transformation_matrix) |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. | |
| void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Eigen::Matrix4f &transformation_matrix) |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. | |
| TransformationEstimationPointToPlaneLLS () | |
| virtual | ~TransformationEstimationPointToPlaneLLS () |
Protected Member Functions | |
| void | constructTransformationMatrix (const float &alpha, const float &beta, const float &gamma, const float &tx, const float &ty, const float &tz, Eigen::Matrix4f &transformation_matrix) |
| Construct a 4 by 4 tranformation matrix from the provided rotation and translation. | |
Detailed Description
template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals.
For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004
Definition at line 59 of file transformation_estimation_point_to_plane_lls.h.
Constructor & Destructor Documentation
| pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::TransformationEstimationPointToPlaneLLS | ( | ) | [inline] |
Definition at line 62 of file transformation_estimation_point_to_plane_lls.h.
| virtual pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::~TransformationEstimationPointToPlaneLLS | ( | ) | [inline, virtual] |
Definition at line 63 of file transformation_estimation_point_to_plane_lls.h.
Member Function Documentation
| void pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::constructTransformationMatrix | ( | const float & | alpha, |
| const float & | beta, | ||
| const float & | gamma, | ||
| const float & | tx, | ||
| const float & | ty, | ||
| const float & | tz, | ||
| Eigen::Matrix4f & | transformation_matrix | ||
| ) | [inline, protected] |
Construct a 4 by 4 tranformation matrix from the provided rotation and translation.
- Parameters:
-
[in] alpha the rotation about the x-axis [in] beta the rotation about the y-axis [in] gamma the rotation about the z-axis [in] tx the x translation [in] ty the y translation [in] tz the z translation [out] transformation the resultant transformation matrix
Definition at line 222 of file transformation_estimation_point_to_plane_lls.hpp.
| void pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::estimateRigidTransformation | ( | const pcl::PointCloud< PointSource > & | cloud_src, |
| const pcl::PointCloud< PointTarget > & | cloud_tgt, | ||
| Eigen::Matrix4f & | transformation_matrix | ||
| ) | [inline, virtual] |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 >.
Definition at line 44 of file transformation_estimation_point_to_plane_lls.hpp.
| void pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::estimateRigidTransformation | ( | const pcl::PointCloud< PointSource > & | cloud_src, |
| const std::vector< int > & | indices_src, | ||
| const pcl::PointCloud< PointTarget > & | cloud_tgt, | ||
| Eigen::Matrix4f & | transformation_matrix | ||
| ) | [inline, virtual] |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 >.
Definition at line 89 of file transformation_estimation_point_to_plane_lls.hpp.
| void pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::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, | ||
| Eigen::Matrix4f & | transformation_matrix | ||
| ) | [inline, virtual] |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 >.
Definition at line 135 of file transformation_estimation_point_to_plane_lls.hpp.
| void pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::estimateRigidTransformation | ( | const pcl::PointCloud< PointSource > & | cloud_src, |
| const pcl::PointCloud< PointTarget > & | cloud_tgt, | ||
| const pcl::Correspondences & | correspondences, | ||
| Eigen::Matrix4f & | transformation_matrix | ||
| ) | [inline, virtual] |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 >.
Definition at line 181 of file transformation_estimation_point_to_plane_lls.hpp.
The documentation for this class was generated from the following files: