38 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
39 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_
41 #include <pcl/registration/transformation_estimation.h>
45 namespace registration
58 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
62 typedef boost::shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> >
Ptr;
63 typedef boost::shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> >
ConstPtr;
79 Matrix4 &transformation_matrix)
const;
90 const std::vector<int> &indices_src,
92 Matrix4 &transformation_matrix)
const;
104 const std::vector<int> &indices_src,
106 const std::vector<int> &indices_tgt,
107 Matrix4 &transformation_matrix)
const;
120 Matrix4 &transformation_matrix)
const;
132 Matrix4 &transformation_matrix)
const;
143 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
144 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src,
145 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
146 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt,
147 Matrix4 &transformation_matrix)
const;
153 #include <pcl/registration/impl/transformation_estimation_2D.hpp>
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 * tgt'.
TransformationEstimation2D()
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimation represents the base class for methods for transformation estimation based on...
boost::shared_ptr< TransformationEstimation2D< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid transformation between a source and a target point cloud in 2D.
Iterator class for point clouds with or without given indices.
boost::shared_ptr< const TransformationEstimation2D< PointSource, PointTarget, Scalar > > ConstPtr
TransformationEstimation2D implements a simple 2D rigid transformation estimation (x...
virtual ~TransformationEstimation2D()