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

TransformationEstimation represents the base class for methods for transformation estimation based on:

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#include <pcl/registration/transformation_estimation.h>

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

Public Types

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

Public Member Functions

 TransformationEstimation ()
virtual ~TransformationEstimation ()
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
 Estimate a rigid rotation transformation between a source and a target point cloud.
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 =0
 Estimate a rigid rotation transformation between a source and a target point cloud.
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 =0
 Estimate a rigid rotation transformation between a source and a target point cloud.
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const =0
 Estimate a rigid rotation transformation between a source and a target point cloud.

Detailed Description

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

TransformationEstimation represents the base class for methods 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:
Dirk Holz, Radu B. Rusu

Definition at line 62 of file transformation_estimation.h.

Member Typedef Documentation

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

Reimplemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 124 of file transformation_estimation.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef Eigen::Matrix<Scalar, 4, 4> pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented in pcl::recognition::TrimmedICP< PointT, Scalar >, pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::recognition::TrimmedICP< pcl::PointXYZ, float >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 65 of file transformation_estimation.h.

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

Reimplemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

Definition at line 123 of file transformation_estimation.h.

Constructor & Destructor Documentation

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

Definition at line 67 of file transformation_estimation.h.

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

Definition at line 68 of file transformation_estimation.h.

Member Function Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences &  correspondences,
Matrix4 &  transformation_matrix 
) const [pure virtual]

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

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

Implemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< 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 [pure virtual]

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

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

Implemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< 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 [pure virtual]

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

Parameters:
[in] cloud_src the source point cloud dataset
[in] indices_src the vector of indices describing the points of interest in cloud_src
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 &  transformation_matrix 
) const [pure virtual]

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

Parameters:
[in] cloud_src the source point cloud dataset
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Implemented in pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationSVD< pcl::PointXYZ, pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

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