Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions
pcl::registration::TransformationEstimationLM Class Reference

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_lm.h>

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List of all members.

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.

Detailed Description

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.

Author:
Radu B. Rusu

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::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.


Member Function Documentation

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.

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 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.

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 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.

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 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.

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 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.

Parameters:
[in]sharedpointer to object that warps points

Definition at line 129 of file transformation_estimation_lm.h.


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