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| TransformationEstimation2D () |
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virtual | ~TransformationEstimation2D () |
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void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
| Estimate a rigid transformation between a source and a target point cloud in 2D.
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void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
| Estimate a rigid transformation between a source and a target point cloud in 2D.
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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 |
| Estimate a rigid transformation between a source and a target point cloud in 2D.
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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 transformation between a source and a target point cloud in 2D.
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| TransformationEstimation () |
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virtual | ~TransformationEstimation () |
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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.
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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.
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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.
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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.
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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.
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void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
| Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.
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template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimation2D< PointSource, PointTarget, Scalar >
TransformationEstimation2D implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets.
The two datasets should already be transformed so that the reference plane equals z = 0.
- 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
- Suat Gedikli
Definition at line 58 of file transformation_estimation_2D.h.