cloudViewer::pipelines::registration::TransformationEstimationPointToPoint Class Reference

#include <TransformationEstimation.h>

Inheritance diagram for cloudViewer::pipelines::registration::TransformationEstimationPointToPoint:

Collaboration diagram for cloudViewer::pipelines::registration::TransformationEstimationPointToPoint:

Public Member Functions
	TransformationEstimationPointToPoint (bool with_scaling=false)
	Parameterized Constructor. More...
	~TransformationEstimationPointToPoint () override
TransformationEstimationType	GetTransformationEstimationType () const override
double	ComputeRMSE (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Eigen::Matrix4d	ComputeTransformation (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Public Member Functions inherited from cloudViewer::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor. More...
virtual	~TransformationEstimation ()

Public Attributes
bool	with_scaling_ = false
	Set to True to estimate scaling, False to force scaling to be 1. More...

Detailed Description

Estimate a transformation for point to point distance.

Definition at line 71 of file TransformationEstimation.h.

Constructor & Destructor Documentation

TransformationEstimationPointToPoint()

cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::TransformationEstimationPointToPoint ( bool  with_scaling = false )

inline

Parameterized Constructor.

Parameters

with_scaling

Set to True to estimate scaling, False to force scaling to be 1.

Definition at line 77 of file TransformationEstimation.h.

~TransformationEstimationPointToPoint()

cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::~TransformationEstimationPointToPoint ( )

inlineoverride

Definition at line 79 of file TransformationEstimation.h.

Member Function Documentation

ComputeRMSE()

double cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::ComputeRMSE ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 19 of file TransformationEstimation.cpp.

References cloudViewer::PointCloudTpl< T >::getEigenPoint().

Referenced by cloudViewer::VisualizerForAlignment::AlignWithManualAnnotation().

ComputeTransformation()

Eigen::Matrix4d cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::ComputeTransformation ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 32 of file TransformationEstimation.cpp.

References cloudViewer::PointCloudTpl< T >::getEigenPoint(), and with_scaling_.

Referenced by cloudViewer::VisualizerForAlignment::AlignWithManualAnnotation().

GetTransformationEstimationType()

TransformationEstimationType cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::GetTransformationEstimationType ( ) const

inlineoverridevirtual

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 82 of file TransformationEstimation.h.

Member Data Documentation

with_scaling_

bool cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::with_scaling_ = false

Set to True to estimate scaling, False to force scaling to be 1.

The homogeneous transformation is given by
T = [ cR t]
[0 1]
Sets 𝑐=1 if with_scaling is False.

Definition at line 101 of file TransformationEstimation.h.

Referenced by ComputeTransformation(), and cloudViewer::pipelines::registration::pybind_registration_classes().

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

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/TransformationEstimation.h
• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/TransformationEstimation.cpp