Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions | Protected Member Functions
pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar > Class Template Reference

TransformationEstimation3Points represents the class for transformation estimation based on: More...

#include <pcl/registration/transformation_estimation_3point.h>

+ Inheritance diagram for pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >:

Public Member Functions

 TransformationEstimation3Point ()
 Constructor. More...
 
virtual ~TransformationEstimation3Point ()
 Destructor. More...
 
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
 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, Matrix4 &transformation_matrix) const
 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, Matrix4 &transformation_matrix) const
 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, Matrix4 &transformation_matrix) const
 Estimate a rigid rotation transformation between a source and a target point cloud. More...
 
- Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
 TransformationEstimation ()
 
virtual ~TransformationEstimation ()
 

Protected Member Functions

void estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
 Estimate a rigid rotation transformation between a source and a target. More...
 

Additional Inherited Members

- Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 > Matrix4
 
typedef boost::shared_ptr
< TransformationEstimation
< PointSource, PointTarget,
Scalar > > 
Ptr
 
typedef boost::shared_ptr
< const
TransformationEstimation
< PointSource, PointTarget,
Scalar > > 
ConstPtr
 

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >

TransformationEstimation3Points represents the class for transformation estimation based on:

Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
Author
P.W.Theiler

Definition at line 59 of file transformation_estimation_3point.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::TransformationEstimation3Point ( )
inline

Constructor.

Definition at line 69 of file transformation_estimation_3point.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::~TransformationEstimation3Point ( )
inlinevirtual

Destructor.

Definition at line 73 of file transformation_estimation_3point.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
inlinevirtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 45 of file transformation_estimation_3point.hpp.

References pcl::PointCloud< T >::points.

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
virtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 64 of file transformation_estimation_3point.hpp.

References pcl::PointCloud< T >::points.

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::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,
Matrix4 transformation_matrix 
) const
inlinevirtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interst points from indices_src
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 84 of file transformation_estimation_3point.hpp.

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences correspondences,
Matrix4 transformation_matrix 
) const
virtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 105 of file transformation_estimation_3point.hpp.

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( ConstCloudIterator< PointSource > &  source_it,
ConstCloudIterator< PointTarget > &  target_it,
Matrix4 transformation_matrix 
) const
inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters
[in]source_itan iterator over the source point cloud dataset
[in]target_itan iterator over the target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Definition at line 125 of file transformation_estimation_3point.hpp.

References pcl::compute3DCentroid(), pcl::demeanPointCloud(), and pcl::ConstCloudIterator< PointT >::reset().


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