Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::registration::TransformationEstimationPointToPlaneLLS Class 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>

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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 Correspondences &correspondences, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Detailed Description

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

Member Typedef Documentation

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.


Constructor & Destructor Documentation

pcl::registration::TransformationEstimationPointToPlaneLLS::TransformationEstimationPointToPlaneLLS ( ) [inline]
virtual pcl::registration::TransformationEstimationPointToPlaneLLS::~TransformationEstimationPointToPlaneLLS ( ) [inline, virtual]

Member Function Documentation

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.

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe 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.

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

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.

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 interst points from indices_src
[out]transformation_matrixthe 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.

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

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

Definition at line 181 of file transformation_estimation_point_to_plane_lls.hpp.


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