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

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_lm.h>

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

Collaboration diagram for pcl::registration::TransformationEstimationLM< PointSource, PointTarget >:

Public Types
typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget > >	Ptr
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget > >	ConstPtr

Public Member Functions
	TransformationEstimationLM ()
	Constructor. More...
	TransformationEstimationLM (const TransformationEstimationLM &src)
	Copy constructor. More...
TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator. More...
virtual	~TransformationEstimationLM ()
	Destructor. More...
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 LM. More...
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 LM. More...
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 LM. More...
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 LM. More...
void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &warp_fcn)
	Set the function we use to warp points. More...

Detailed Description

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

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.

Author

Radu B. Rusu

Definition at line 57 of file transformation_estimation_lm.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

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

inherited

Definition at line 121 of file transformation_estimation.h.

template<typename PointSource , typename PointTarget >

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

inherited

Definition at line 120 of file transformation_estimation.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::TransformationEstimationLM ( )

inline

Constructor.

Definition at line 70 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::TransformationEstimationLM ( const TransformationEstimationLM< PointSource, PointTarget > &  src )

inline

Copy constructor.

Parameters

[in]

src

the TransformationEstimationLM object to copy into this

Definition at line 77 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

virtual pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::~TransformationEstimationLM ( )

inlinevirtual

Destructor.

Definition at line 101 of file transformation_estimation_lm.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, Eigen::Matrix4f &  transformation_matrix  )

inlinevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

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 48 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< 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  )

inlinevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

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 106 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< 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  )

inlinevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

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 132 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, const pcl::Correspondences &  correspondences, Eigen::Matrix4f &  transformation_matrix  )

inlinevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

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 192 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

TransformationEstimationLM& pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::operator= ( const TransformationEstimationLM< PointSource, PointTarget > &  src )

inline

Copy operator.

Parameters

[in]

src

the TransformationEstimationLM object to copy into this

Definition at line 90 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::setWarpFunction ( const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &  warp_fcn )

inline

Set the function we use to warp points.

Defaults to rigid 6D warp.

Parameters

[in]

warp_fcn

a shared pointer to an object that warps points

Definition at line 160 of file transformation_estimation_lm.h.

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

• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_estimation_lm.h
• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/transformation_estimation_lm.hpp