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

TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. More...

#include <pcl/registration/transformation_estimation_point_to_plane.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPlane:
Inheritance graph
[legend]
Collaboration diagram for pcl::registration::TransformationEstimationPointToPlane:
Collaboration graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< TransformationEstimationPointToPlane
< PointSource, PointTarget > > 
Ptr
typedef pcl::PointCloud
< PointSource > 
PointCloudSource
typedef PointCloudSource::Ptr PointCloudSourcePtr
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
typedef pcl::PointCloud
< PointTarget > 
PointCloudTarget
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 TransformationEstimationPointToPlane ()
virtual ~TransformationEstimationPointToPlane ()
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

TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.

Author:
Michael Dixon

Member Typedef Documentation

Definition at line 60 of file transformation_estimation_point_to_plane.h.


Constructor & Destructor Documentation

pcl::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane ( ) [inline]

Definition at line 69 of file transformation_estimation_point_to_plane.h.

virtual pcl::registration::TransformationEstimationPointToPlane::~TransformationEstimationPointToPlane ( ) [inline, virtual]

Definition at line 70 of file transformation_estimation_point_to_plane.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, inherited]

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
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, inherited]

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
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, inherited]

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
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, inherited]

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
void pcl::registration::TransformationEstimationLM::setWarpFunction ( const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &  warp_fcn) [inline, inherited]

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 file:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines