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

TransformationEstimation represents the base class for methods for transformation estimation based on: More...

#include <pcl/registration/transformation_estimation.h>

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

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

Public Member Functions
	TransformationEstimation ()
virtual	~TransformationEstimation ()
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)=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 std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)=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 std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Eigen::Matrix4f &transformation_matrix)=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, Eigen::Matrix4f &transformation_matrix)=0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

Detailed Description

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

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

Author

Dirk Holz, Radu B. Rusu

Definition at line 61 of file transformation_estimation.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

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

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

Definition at line 120 of file transformation_estimation.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

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

inline

Definition at line 64 of file transformation_estimation.h.

template<typename PointSource , typename PointTarget >

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

inlinevirtual

Definition at line 65 of file transformation_estimation.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

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

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::TransformationEstimationLM< PointSource, PointTarget >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >, and pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >.

template<typename PointSource , typename PointTarget >

virtual void pcl::registration::TransformationEstimation< 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  )

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::TransformationEstimationLM< PointSource, PointTarget >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >, and pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >.

template<typename PointSource , typename PointTarget >

virtual void pcl::registration::TransformationEstimation< 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  )

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 interst points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationLM< PointSource, PointTarget >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >, and pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >.

template<typename PointSource , typename PointTarget >

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

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::TransformationEstimationLM< PointSource, PointTarget >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget >, and pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >.

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

• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_estimation.h