Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes

pcl::IterativeClosestPoint< PointSource, PointTarget > Class Template Reference
[Module registration]

IterativeClosestPoint is an implementation of the Iterative Closest Point algorithm based on Singular Value Decomposition (SVD). More...

#include <pcl/registration/icp.h>

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List of all members.

Public Member Functions

 IterativeClosestPoint ()
 Empty constructor.

Protected Types

typedef Registration
< PointSource, PointTarget >
::PointCloudSource 
PointCloudSource
typedef PointCloudSource::Ptr PointCloudSourcePtr
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
typedef Registration
< PointSource, PointTarget >
::PointCloudTarget 
PointCloudTarget
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Protected Member Functions

virtual void computeTransformation (PointCloudSource &output)
 Rigid transformation computation method.
virtual void computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess)
 Rigid transformation computation method with initial guess.

Protected Attributes

boost::function< void(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)> 
rigid_transformation_estimation_
 function to call to estimate the rigid transform

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::IterativeClosestPoint< PointSource, PointTarget >

IterativeClosestPoint is an implementation of the Iterative Closest Point algorithm based on Singular Value Decomposition (SVD).

Author:
Radu Bogdan Rusu, Michael Dixon

Definition at line 55 of file icp.h.


Member Typedef Documentation

template<typename PointSource , typename PointTarget >
typedef Registration<PointSource, PointTarget>::PointCloudSource pcl::IterativeClosestPoint< PointSource, PointTarget >::PointCloudSource [protected]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 85 of file icp.h.

template<typename PointSource , typename PointTarget >
typedef PointCloudSource::ConstPtr pcl::IterativeClosestPoint< PointSource, PointTarget >::PointCloudSourceConstPtr [protected]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 87 of file icp.h.

template<typename PointSource , typename PointTarget >
typedef PointCloudSource::Ptr pcl::IterativeClosestPoint< PointSource, PointTarget >::PointCloudSourcePtr [protected]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 86 of file icp.h.

template<typename PointSource , typename PointTarget >
typedef Registration<PointSource, PointTarget>::PointCloudTarget pcl::IterativeClosestPoint< PointSource, PointTarget >::PointCloudTarget [protected]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 89 of file icp.h.

template<typename PointSource , typename PointTarget >
typedef PointIndices::ConstPtr pcl::IterativeClosestPoint< PointSource, PointTarget >::PointIndicesConstPtr [protected]

Reimplemented from pcl::PCLBase< PointSource >.

Definition at line 92 of file icp.h.

template<typename PointSource , typename PointTarget >
typedef PointIndices::Ptr pcl::IterativeClosestPoint< PointSource, PointTarget >::PointIndicesPtr [protected]

Reimplemented from pcl::PCLBase< PointSource >.

Definition at line 91 of file icp.h.


Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >
pcl::IterativeClosestPoint< PointSource, PointTarget >::IterativeClosestPoint (  )  [inline]

Empty constructor.

Definition at line 59 of file icp.h.


Member Function Documentation

template<typename PointSource , typename PointTarget >
void pcl::IterativeClosestPoint< PointSource, PointTarget >::computeTransformation ( PointCloudSource output  )  [protected, virtual]

Rigid transformation computation method.

Parameters:
output the transformed input point cloud dataset using the rigid transformation found

Implements pcl::Registration< PointSource, PointTarget >.

Definition at line 41 of file icp.hpp.

template<typename PointSource , typename PointTarget >
void pcl::IterativeClosestPoint< PointSource, PointTarget >::computeTransformation ( PointCloudSource output,
const Eigen::Matrix4f &  guess 
) [protected, virtual]

Rigid transformation computation method with initial guess.

Parameters:
output the transformed input point cloud dataset using the rigid transformation found
guess the initial guess of the transformation to compute

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 47 of file icp.hpp.


Member Data Documentation

template<typename PointSource , typename PointTarget >
boost::function<void(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)> pcl::IterativeClosestPoint< PointSource, PointTarget >::rigid_transformation_estimation_ [protected]

function to call to estimate the rigid transform

Definition at line 110 of file icp.h.


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