Public Member Functions

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

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences in target and input point cloud More...

#include <pcl/registration/transformation_estimation_svd.h>

Inheritance diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >:
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List of all members.

Public Member Functions

 TransformationEstimationSVD ()
virtual ~TransformationEstimationSVD ()
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.
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.
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.
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< pcl::registration::Correspondence > &correspondences, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Detailed Description

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

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences in target and input point cloud

Author:
Dirk Holz

Definition at line 50 of file transformation_estimation_svd.h.


Constructor & Destructor Documentation

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

Definition at line 53 of file transformation_estimation_svd.h.

template<typename PointSource , typename PointTarget >
virtual pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::~TransformationEstimationSVD (  )  [inline, virtual]

Definition at line 54 of file transformation_estimation_svd.h.


Member Function Documentation

template<typename PointSource , typename PointTarget >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Eigen::Matrix4f &  transformation_matrix 
) [inline, virtual]

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

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 42 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const std::vector< pcl::registration::Correspondence > &  correspondences,
Eigen::Matrix4f &  transformation_matrix 
) [inline, virtual]

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

Parameters:
cloud_src the source point cloud dataset
cloud_tgt the target point cloud dataset
correspondences the vector of correspondences between source and target point cloud
transformation_matrix the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 194 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >
void pcl::registration::TransformationEstimationSVD< 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 
) [inline, virtual]

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

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 141 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget >
void pcl::registration::TransformationEstimationSVD< 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 
) [inline, virtual]

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

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
transformation_matrix the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 88 of file transformation_estimation_svd.hpp.


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