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

TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals. More...

#include <pcl/registration/transformation_estimation_point_to_plane_lls.h>

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

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

List of all members.

Public Types
typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget > >	Ptr
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget > >	ConstPtr
Public Member Functions
	TransformationEstimationPointToPlaneLLS ()
virtual	~TransformationEstimationPointToPlaneLLS ()
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 SVD.
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 SVD.
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 SVD.
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 SVD.

---

Detailed Description

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

TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals.

For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004

Author:

Michael Dixon

Definition at line 59 of file transformation_estimation_point_to_plane_lls.h.

---

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 boost::shared_ptr<TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation< PointSource, PointTarget >::Ptr [inherited]

Reimplemented in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >.

Definition at line 120 of file transformation_estimation.h.

---

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

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

(

)

[inline]

Definition at line 62 of file transformation_estimation_point_to_plane_lls.h.

template<typename PointSource , typename PointTarget >

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

(

)

[inline, virtual]

Definition at line 63 of file transformation_estimation_point_to_plane_lls.h.

---

Member Function Documentation

template<typename PointSource , typename PointTarget >

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

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

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 44 of file transformation_estimation_point_to_plane_lls.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationPointToPlaneLLS< 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]

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

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 89 of file transformation_estimation_point_to_plane_lls.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationPointToPlaneLLS< 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]

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

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 135 of file transformation_estimation_point_to_plane_lls.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationPointToPlaneLLS< 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]

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

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 181 of file transformation_estimation_point_to_plane_lls.hpp.

---

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

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_estimation_point_to_plane_lls.h
• /usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp