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

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 <pcl/registration/transformation_estimation_point_to_plane_lls.h>

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

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

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

Public Member Functions
	TransformationEstimationPointToPlaneLLS ()
virtual	~TransformationEstimationPointToPlaneLLS ()
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. 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 SVD. 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 SVD. 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 SVD. More...

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

Author

Michael Dixon

Definition at line 59 of file transformation_estimation_point_to_plane_lls.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::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >::TransformationEstimationPointToPlaneLLS ( )

inline

Definition at line 62 of file transformation_estimation_point_to_plane_lls.h.

template<typename PointSource , typename PointTarget >

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

inlinevirtual

Definition at line 63 of file transformation_estimation_point_to_plane_lls.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationPointToPlaneLLS< 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 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.

template<typename PointSource , typename PointTarget >

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  )

inlinevirtual

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.

template<typename PointSource , typename PointTarget >

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  )

inlinevirtual

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.

template<typename PointSource , typename PointTarget >

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  )

inlinevirtual

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:

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