TransformationEstimation represents the base class for methods for transformation estimation based on: More...
#include <pcl/registration/transformation_estimation.h>
Public Types |
|
| using | Matrix4 = Eigen::Matrix< Scalar, 4, 4 > |
| using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > |
Public Member Functions |
|
| TransformationEstimation () | |
| virtual | ~TransformationEstimation () |
| 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. More... |
|
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &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. More... |
|
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const =0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... |
|
| 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. More... |
|
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.
Definition at line 62 of file transformation_estimation.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 120 of file transformation_estimation.h.
Matrix4
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
Definition at line 64 of file transformation_estimation.h.
Ptr
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 118 of file transformation_estimation.h.
Constructor & Destructor Documentation
TransformationEstimation()
|
inline |
Definition at line 66 of file transformation_estimation.h.
~TransformationEstimation()
|
inlinevirtual |
Definition at line 67 of file transformation_estimation.h.
Member Function Documentation
estimateRigidTransformation() [1/4]
|
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 interest points from indices_src [out] transformation_matrix the resultant transformation matrix
Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >, pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >.
estimateRigidTransformation() [2/4]
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >, pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >.
estimateRigidTransformation() [3/4]
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >, pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >.
estimateRigidTransformation() [4/4]
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >, pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >.
The documentation for this class was generated from the following file:
- pcl/registration/transformation_estimation.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation.html
