TransformationEstimation represents the base class for methods for transformation estimation based on: More...
#include <pcl/registration/transformation_estimation.h>
Inheritance diagram for pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >:
Public Types | |
| using | Matrix4 = Eigen::Matrix< Scalar, 4, 4 > |
| using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > |
Public Member Functions | |
| TransformationEstimation ()=default | |
| virtual | ~TransformationEstimation ()=default |
| 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. More... | |
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &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. More... | |
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const =0 |
| 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 =0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
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:
- correspondence vectors
- two point clouds (source and target) of the same size
- a point cloud with a set of indices (source), and another point cloud (target)
- two point clouds with two sets of indices (source and target) of the same size
- 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.
Definition at line 62 of file transformation_estimation.h.
Member Typedef Documentation
◆ ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 119 of file transformation_estimation.h.
◆ Matrix4
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
Definition at line 64 of file transformation_estimation.h.
◆ Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> > |
Definition at line 118 of file transformation_estimation.h.
Constructor & Destructor Documentation
◆ TransformationEstimation()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
default |
◆ ~TransformationEstimation()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
virtualdefault |
Member Function Documentation
◆ estimateRigidTransformation() [1/4]
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
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 interest points from indices_src [out] transformation_matrix the resultant transformation matrix
Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.
◆ estimateRigidTransformation() [2/4]
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >.
◆ estimateRigidTransformation() [3/4]
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >.
◆ estimateRigidTransformation() [4/4]
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
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::TransformationEstimationSVD< PointT, PointT, Scalar >.
The documentation for this class was generated from the following file:
- pcl/registration/transformation_estimation.h