Point Cloud Library (PCL)  1.14.1-dev
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pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > Class Template Referenceabstract

TransformationEstimation represents the base class for methods for transformation estimation based on: More...

#include <pcl/registration/transformation_estimation.h>

+ Inheritance diagram for pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >:

Public Types

using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
 
using Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >
 
using ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >
 

Public Member Functions

 TransformationEstimation ()=default
 
virtual ~TransformationEstimation ()=default
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >

TransformationEstimation represents the base class for methods for transformation estimation based on:

Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
Author
Dirk Holz, Radu B. Rusu

Definition at line 62 of file transformation_estimation.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> >

Definition at line 119 of file transformation_estimation.h.

◆ Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4>

Definition at line 64 of file transformation_estimation.h.

◆ Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> >

Definition at line 118 of file transformation_estimation.h.

Constructor & Destructor Documentation

◆ TransformationEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::TransformationEstimation ( )
default

◆ ~TransformationEstimation()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::~TransformationEstimation ( )
virtualdefault

Member Function Documentation

◆ estimateRigidTransformation() [1/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::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
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

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 interest points from indices_src
[out]transformation_matrixthe resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

◆ estimateRigidTransformation() [2/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::Indices indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

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

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

◆ estimateRigidTransformation() [3/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences correspondences,
Matrix4 transformation_matrix 
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

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

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.

◆ estimateRigidTransformation() [4/4]

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual void pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
pure virtual

Estimate a rigid rotation transformation between a source and a target point cloud.

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Implemented in pcl::registration::TransformationEstimationSVD< PointT, PointT, Scalar >.


The documentation for this class was generated from the following file: