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using | PointCloud = pcl::PointCloud< PointT > |
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using | PointCloudConstPtr = typename PointCloud::ConstPtr |
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using | Matrix4 = typename Eigen::Matrix< Scalar, 4, 4 > |
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using | Ptr = shared_ptr< TransformationEstimationSVD< PointT, PointT, Scalar > > |
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using | ConstPtr = shared_ptr< const TransformationEstimationSVD< PointT, PointT, Scalar > > |
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using | Matrix4 = typename TransformationEstimation< PointT, PointT, Scalar >::Matrix4 |
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using | Matrix4 = Eigen::Matrix< Scalar, 4, 4 > |
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using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > |
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using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > |
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| TrimmedICP () |
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| ~TrimmedICP () |
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void | init (const PointCloudConstPtr &target) |
| Call this method before calling align().
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void | align (const PointCloud &source_points, int num_source_points_to_use, Matrix4 &guess_and_result) const |
| The method performs trimmed ICP, i.e., it rigidly registers the source to the target (passed to the init() method).
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void | setNewToOldEnergyRatio (float ratio) |
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| TransformationEstimationSVD (bool use_umeyama=true) |
| Constructor.
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| ~TransformationEstimationSVD () |
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void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
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void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
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void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
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void | estimateRigidTransformation (const pcl::PointCloud< PointT > &cloud_src, const pcl::PointCloud< PointT > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
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| TransformationEstimation () |
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virtual | ~TransformationEstimation () |
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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.
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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.
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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.
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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.
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void | estimateRigidTransformation (ConstCloudIterator< PointT > &source_it, ConstCloudIterator< PointT > &target_it, Matrix4 &transformation_matrix) const |
| Estimate a rigid rotation transformation between a source and a target.
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virtual void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
| Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.
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template<typename
PointT, typename Scalar>
class pcl::recognition::TrimmedICP< PointT, Scalar >
Definition at line 62 of file trimmed_icp.h.