Point Cloud Library (PCL) 1.12.0
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TransformationEstimation3Points represents the class for transformation estimation based on: More...
#include <pcl/registration/transformation_estimation_3point.h>
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. | |
Additional Inherited Members | |
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using | Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
using | Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>> |
using | ConstPtr |
TransformationEstimation3Points represents the class for transformation estimation based on:
Definition at line 58 of file transformation_estimation_3point.h.
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inline |
Constructor.
Definition at line 71 of file transformation_estimation_3point.h.
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inline |
Destructor.
Definition at line 74 of file transformation_estimation_3point.h.
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inlineoverridevirtual |
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 interest points from indices_src |
[out] | transformation_matrix | the resultant transformation matrix |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 90 of file transformation_estimation_3point.hpp.
References pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation(), and pcl::ConstCloudIterator< PointT >::size().
Referenced by pcl::registration::TransformationEstimation3Point< PointSource, PointTarget, Scalar >::estimateRigidTransformation().
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overridevirtual |
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 67 of file transformation_estimation_3point.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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overridevirtual |
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 113 of file transformation_estimation_3point.hpp.
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inlineoverridevirtual |
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 46 of file transformation_estimation_3point.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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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 134 of file transformation_estimation_3point.hpp.
References pcl::compute3DCentroid(), pcl::demeanPointCloud(), and pcl::ConstCloudIterator< PointT >::reset().