Point Cloud Library (PCL) 1.15.1
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List of all members | Public Types | Public Member Functions
pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > Class Template Referenceabstract
Module registration

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

#include <pcl/registration/transformation_estimation.h>

Public Types

using Matrix4 = Eigen::Matrix<Scalar, 4, 4>
using Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>>
using ConstPtr

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.
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.
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.
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:

  • 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.
Author
Dirk Holz, Radu B. Rusu

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
Initial value:
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>
pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::TransformationEstimation ( )
default

◆ ~TransformationEstimation()

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

Member Function Documentation

◆ estimateRigidTransformation() [1/4]

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::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Indices & indices_tgt,
Matrix4 & transformation_matrix ) const
pure virtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interest points from indices_src
[out]transformation_matrixthe resultant transformation matrix

◆ estimateRigidTransformation() [2/4]

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::Indices & 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_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

◆ estimateRigidTransformation() [3/4]

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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe resultant transformation matrix

◆ estimateRigidTransformation() [4/4]

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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

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