pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget > Class Template Reference

TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. More...

#include <pcl/registration/transformation_estimation_point_to_plane.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >:

Collaboration diagram for pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >:

List of all members.

Public Types
typedef boost::shared_ptr < TransformationEstimationPointToPlane < PointSource, PointTarget > >	Ptr
typedef pcl::PointCloud < PointSource >	PointCloudSource
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef pcl::PointCloud < PointTarget >	PointCloudTarget
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget > >	ConstPtr
Public Member Functions
	TransformationEstimationPointToPlane ()
virtual	~TransformationEstimationPointToPlane ()
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 LM.
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 LM.
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 LM.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &warp_fcn)
	Set the function we use to warp points.

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Detailed Description

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

TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.

Author:

Michael Dixon

Definition at line 57 of file transformation_estimation_point_to_plane.h.

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Member Typedef Documentation

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation< PointSource, PointTarget >::ConstPtr [inherited]

Definition at line 121 of file transformation_estimation.h.

template<typename PointSource , typename PointTarget >

typedef pcl::PointCloud<PointSource> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointCloudSource

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 61 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudSource::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointCloudSourceConstPtr

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 63 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef PointCloudSource::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointCloudSourcePtr

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 62 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef pcl::PointCloud<PointTarget> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointCloudTarget

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 64 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef PointIndices::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointIndicesConstPtr

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 66 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef PointIndices::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::PointIndicesPtr

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget >.

Definition at line 65 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget> > pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::Ptr

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 60 of file transformation_estimation_point_to_plane.h.

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Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::TransformationEstimationPointToPlane

(

)

[inline]

Definition at line 69 of file transformation_estimation_point_to_plane.h.

template<typename PointSource , typename PointTarget >

virtual pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >::~TransformationEstimationPointToPlane

(

)

[inline, virtual]

Definition at line 70 of file transformation_estimation_point_to_plane.h.

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Member Function Documentation

template<typename PointSource , typename PointTarget >

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

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

Parameters:

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

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

Definition at line 48 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< 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, inherited]

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

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

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

Definition at line 106 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< 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, inherited]

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

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

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

Definition at line 132 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline, virtual, inherited]

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

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

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

Definition at line 192 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::setWarpFunction

(

const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &

warp_fcn

)

[inline, inherited]

Set the function we use to warp points.

Defaults to rigid 6D warp.

Parameters:

[in]

warp_fcn

a shared pointer to an object that warps points

Definition at line 160 of file transformation_estimation_lm.h.

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

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_estimation_point_to_plane.h