pcl::registration::TransformationEstimationSVD< PointSource, PointTarget > Class Template Reference

#include <transformation_estimation_svd.h>

Inheritance diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >:

List of all members.

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.
	TransformationEstimationSVD ()
virtual	~TransformationEstimationSVD ()
Protected Member Functions
void	getTransformationFromCorrelation (const Eigen::MatrixXf &cloud_src_demean, const Eigen::Vector4f &centroid_src, const Eigen::MatrixXf &cloud_tgt_demean, const Eigen::Vector4f &centroid_tgt, Eigen::Matrix4f &transformation_matrix)
	Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'.

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Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences.

Author:

Dirk Holz, Radu B. Rusu

Definition at line 55 of file transformation_estimation_svd.h.

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Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>

pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::TransformationEstimationSVD

(

)

[inline]

Definition at line 58 of file transformation_estimation_svd.h.

template<typename PointSource, typename PointTarget>

virtual pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::~TransformationEstimationSVD

(

)

[inline, virtual]

Definition at line 59 of file transformation_estimation_svd.h.

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Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationSVD< 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 43 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationSVD< 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 68 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationSVD< 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 101 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Eigen::Matrix4f &	transformation_matrix
	)		[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 134 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::getTransformationFromCorrelation	(	const Eigen::MatrixXf &	cloud_src_demean,
		const Eigen::Vector4f &	centroid_src,
		const Eigen::MatrixXf &	cloud_tgt_demean,
		const Eigen::Vector4f &	centroid_tgt,
		Eigen::Matrix4f &	transformation_matrix
	)		[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 162 of file transformation_estimation_svd.hpp.

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

• transformation_estimation_svd.h
• transformation_estimation_svd.hpp