Point Cloud Library (PCL)
1.3.1
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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>
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 Correspondences &correspondences, Eigen::Matrix4f &transformation_matrix) |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. |
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
typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation::ConstPtr [inherited] |
Definition at line 123 of file transformation_estimation.h.
typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation::Ptr [inherited] |
Definition at line 122 of file transformation_estimation.h.
pcl::registration::TransformationEstimationPointToPlaneLLS::TransformationEstimationPointToPlaneLLS | ( | ) | [inline] |
Definition at line 62 of file transformation_estimation_point_to_plane_lls.h.
virtual pcl::registration::TransformationEstimationPointToPlaneLLS::~TransformationEstimationPointToPlaneLLS | ( | ) | [inline, virtual] |
Definition at line 63 of file transformation_estimation_point_to_plane_lls.h.
void pcl::registration::TransformationEstimationPointToPlaneLLS::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.
[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.
void pcl::registration::TransformationEstimationPointToPlaneLLS::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.
[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.
void pcl::registration::TransformationEstimationPointToPlaneLLS::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.
[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.
void pcl::registration::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation | ( | const pcl::PointCloud< PointSource > & | cloud_src, |
const pcl::PointCloud< PointTarget > & | cloud_tgt, | ||
const Correspondences & | correspondences, | ||
Eigen::Matrix4f & | transformation_matrix | ||
) | [inline, virtual] |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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.