Point Cloud Library (PCL)
1.3.1
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TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_lm.h>
Classes | |
struct | Functor |
Generic functor for the optimization. More... | |
struct | OptimizationFunctor |
struct | OptimizationFunctorWithIndices |
Public Types | |
typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget > > | Ptr |
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget > > | ConstPtr |
Public Member Functions | |
TransformationEstimationLM () | |
virtual | ~TransformationEstimationLM () |
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 LM. | |
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 LM. | |
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 LM. | |
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 LM. | |
void | setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &warp_fcn) |
Set the function we use to warp points. |
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.
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::TransformationEstimationLM::TransformationEstimationLM | ( | ) | [inline] |
Definition at line 69 of file transformation_estimation_lm.h.
virtual pcl::registration::TransformationEstimationLM::~TransformationEstimationLM | ( | ) | [inline, virtual] |
Definition at line 70 of file transformation_estimation_lm.h.
void pcl::registration::TransformationEstimationLM::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 LM.
[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 48 of file transformation_estimation_lm.hpp.
void pcl::registration::TransformationEstimationLM::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 LM.
[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 107 of file transformation_estimation_lm.hpp.
void pcl::registration::TransformationEstimationLM::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 LM.
[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 133 of file transformation_estimation_lm.hpp.
void pcl::registration::TransformationEstimationLM::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 LM.
[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 194 of file transformation_estimation_lm.hpp.
void pcl::registration::TransformationEstimationLM::setWarpFunction | ( | const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > & | warp_fcn | ) | [inline] |
Set the function we use to warp points.
Defaults to rigid 6D warp.
[in] | shared | pointer to object that warps points |
Definition at line 129 of file transformation_estimation_lm.h.