Point Cloud Library (PCL)
1.8.0
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TransformationEstimation3Points represents the class for transformation estimation based on: More...
#include <pcl/registration/transformation_estimation_3point.h>
Public Member Functions | |
TransformationEstimation3Point () | |
Constructor. More... | |
virtual | ~TransformationEstimation3Point () |
Destructor. More... | |
virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
virtual 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, Matrix4 &transformation_matrix) const |
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 |
Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
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TransformationEstimation () | |
virtual | ~TransformationEstimation () |
Protected Member Functions | |
void | estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target. More... | |
Additional Inherited Members | |
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typedef Eigen::Matrix< Scalar, 4, 4 > | Matrix4 |
typedef boost::shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > | Ptr |
typedef boost::shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > | ConstPtr |
TransformationEstimation3Points represents the class for transformation estimation based on:
Definition at line 59 of file transformation_estimation_3point.h.
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inline |
Constructor.
Definition at line 69 of file transformation_estimation_3point.h.
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inlinevirtual |
Destructor.
Definition at line 73 of file transformation_estimation_3point.h.
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inlinevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud.
[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, Scalar >.
Definition at line 45 of file transformation_estimation_3point.hpp.
References pcl::PointCloud< PointT >::points.
Referenced by pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::~TransformationEstimation3Point().
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virtual |
Estimate a rigid rotation transformation between a source and a target point cloud.
[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, Scalar >.
Definition at line 64 of file transformation_estimation_3point.hpp.
References pcl::PointCloud< PointT >::points.
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inlinevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud.
[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, Scalar >.
Definition at line 84 of file transformation_estimation_3point.hpp.
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virtual |
Estimate a rigid rotation transformation between a source and a target point cloud.
[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, Scalar >.
Definition at line 105 of file transformation_estimation_3point.hpp.
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inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
[in] | source_it | an iterator over the source point cloud dataset |
[in] | target_it | an iterator over the target point cloud dataset |
[out] | transformation_matrix | the resultant transformation matrix |
Definition at line 125 of file transformation_estimation_3point.hpp.
References pcl::compute3DCentroid(), pcl::demeanPointCloud(), and pcl::ConstCloudIterator< PointT >::reset().