TransformationEstimation2D implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets. More...
#include <pcl/registration/transformation_estimation_2D.h>
Public Types |
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| using | Ptr = shared_ptr< TransformationEstimation2D< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation2D< PointSource, PointTarget, Scalar > > |
| using | Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 |
 Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > |
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| using | Matrix4 = Eigen::Matrix< float, 4, 4 > |
| using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, float > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > > |
Public Member Functions |
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| TransformationEstimation2D () | |
| virtual | ~TransformationEstimation2D () |
| 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. More... |
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| void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &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. More... |
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| 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 |
| Estimate a rigid transformation between a source and a target point cloud in 2D. More... |
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| 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. More... |
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| Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > |
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| 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... |
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| 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... |
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| 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... |
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| 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... |
|
Protected Member Functions |
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| 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. More... |
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| void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
| Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src. More... |
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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.
Definition at line 58 of file transformation_estimation_2D.h.
Member Typedef Documentation
ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> > |
Definition at line 63 of file transformation_estimation_2D.h.
Matrix4
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 |
Definition at line 66 of file transformation_estimation_2D.h.
Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> > |
Definition at line 61 of file transformation_estimation_2D.h.
Constructor & Destructor Documentation
TransformationEstimation2D()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inline |
Definition at line 68 of file transformation_estimation_2D.h.
~TransformationEstimation2D()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inlinevirtual |
Definition at line 69 of file transformation_estimation_2D.h.
Member Function Documentation
estimateRigidTransformation() [1/5]
template<typename PointSource , typename PointTarget , typename Scalar >
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inlinevirtual |
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 interest points from indices_src [out] transformation_matrix the resultant transformation matrix
Definition at line 90 of file transformation_estimation_2D.hpp.
estimateRigidTransformation() [2/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
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
Definition at line 69 of file transformation_estimation_2D.hpp.
References pcl::PointCloud< PointT >::size().
estimateRigidTransformation() [3/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
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
Definition at line 112 of file transformation_estimation_2D.hpp.
estimateRigidTransformation() [4/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
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
Definition at line 48 of file transformation_estimation_2D.hpp.
References pcl::PointCloud< PointT >::size().
estimateRigidTransformation() [5/5]
template<typename PointSource , typename PointTarget , typename Scalar >
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inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
- Parameters
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[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 125 of file transformation_estimation_2D.hpp.
References pcl::compute3DCentroid(), pcl::demeanPointCloud(), and pcl::ConstCloudIterator< PointT >::reset().
getTransformationFromCorrelation()
template<typename PointSource , typename PointTarget , typename Scalar >
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protected |
Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.
- tgt'
- Parameters
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[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 158 of file transformation_estimation_2D.hpp.
The documentation for this class was generated from the following files:
- pcl/registration/transformation_estimation_2D.h
- pcl/registration/impl/transformation_estimation_2D.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation2_d.html
