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

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default. More...

#include <pcl/registration/icp.h>

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List of all members.

Public Types

typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudSource 		PointCloudSource
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudTarget 		PointCloudTarget
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::Matrix4 		Matrix4
typedef boost::shared_ptr
< IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 		Ptr
typedef boost::shared_ptr
< const IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 		ConstPtr

Public Member Functions

 IterativeClosestPointWithNormals ()
 Empty constructor.
virtual ~IterativeClosestPointWithNormals ()
 Empty destructor.

Protected Member Functions

virtual void transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
 Apply a rigid transform to a given dataset.

Detailed Description

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

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

Author:
Radu B. Rusu

Definition at line 290 of file icp.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<const IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 302 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 295 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudSource

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 293 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudTarget

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 294 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 301 of file icp.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::IterativeClosestPointWithNormals (  )  [inline]

Empty constructor.

Definition at line 305 of file icp.h.

References pcl::Registration< PointSource, PointTarget, Scalar >::reg_name_, and pcl::Registration< PointSource, PointTarget, Scalar >::transformation_estimation_.

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::~IterativeClosestPointWithNormals (  )  [inline, virtual]

Empty destructor.

Definition at line 313 of file icp.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::transformCloud ( const PointCloudSource &  input,
PointCloudSource &  output,
const Matrix4 &  transform 
) [inline, protected, virtual]

Apply a rigid transform to a given dataset.

Parameters:
[in] input the input point cloud
[out] output the resultant output point cloud
[in] transform a 4x4 rigid transformation
Note:
Can be used with cloud_in equal to cloud_out

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 232 of file icp.hpp.

References pcl::transformPointCloudWithNormals().

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