Public Member Functions

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

IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend. More...

#include <pcl/registration/icp_nl.h>

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List of all members.

Public Member Functions

 IterativeClosestPointNonLinear ()
 Empty constructor.
void estimateRigidTransformationLM (const PointCloudSource &cloud_src, const PointCloudTarget &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear Levenberg-Marquardt approach.
void estimateRigidTransformationLM (const PointCloudSource &cloud_src, const std::vector< int > &indices_src, const PointCloudTarget &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 an iterative non-linear Levenberg-Marquardt approach.

Detailed Description

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

IterativeClosestPointNonLinear is an ICP variant that uses Levenberg-Marquardt optimization backend.

The resultant transformation is optimized as a quaternion.

Author:
Radu Bogdan Rusu, Michael Dixon

Definition at line 56 of file icp_nl.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 86 of file icp_nl.h.


Member Function Documentation

template<typename PointSource , typename PointTarget >
void pcl::IterativeClosestPointNonLinear< PointSource, PointTarget >::estimateRigidTransformationLM ( const PointCloudSource cloud_src,
const PointCloudTarget cloud_tgt,
Eigen::Matrix4f &  transformation_matrix 
)

Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear Levenberg-Marquardt approach.

Parameters:
cloud_src the source point cloud dataset
cloud_tgt the target point cloud dataset
transformation_matrix the resultant transformation matrix

Definition at line 42 of file icp_nl.hpp.

template<typename PointSource , typename PointTarget >
void pcl::IterativeClosestPointNonLinear< PointSource, PointTarget >::estimateRigidTransformationLM ( const PointCloudSource cloud_src,
const std::vector< int > &  indices_src,
const PointCloudTarget 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 an iterative non-linear Levenberg-Marquardt approach.

Parameters:
cloud_src the source point cloud dataset
indices_src the vector of indices describing the points of interest in cloud_src
cloud_tgt the target point cloud dataset
indices_tgt the vector of indices describing the correspondences of the interst points from indices_src
transformation_matrix the resultant transformation matrix

Definition at line 111 of file icp_nl.hpp.


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