cloudViewer::pipelines::registration::TransformationEstimation Class Reference

#include <TransformationEstimation.h>

Inheritance diagram for cloudViewer::pipelines::registration::TransformationEstimation:

Public Member Functions
	TransformationEstimation ()
	Default Constructor. More...
virtual	~TransformationEstimation ()
virtual TransformationEstimationType	GetTransformationEstimationType () const =0
virtual double	ComputeRMSE (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const =0
virtual Eigen::Matrix4d	ComputeTransformation (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const =0

Detailed Description

Base class that estimates a transformation between two point clouds The virtual function ComputeTransformation() must be implemented in subclasses.

Definition at line 38 of file TransformationEstimation.h.

Constructor & Destructor Documentation

TransformationEstimation()

cloudViewer::pipelines::registration::TransformationEstimation::TransformationEstimation ( )

inline

Default Constructor.

Definition at line 41 of file TransformationEstimation.h.

~TransformationEstimation()

virtual cloudViewer::pipelines::registration::TransformationEstimation::~TransformationEstimation ( )

inlinevirtual

Definition at line 42 of file TransformationEstimation.h.

Member Function Documentation

ComputeRMSE()

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

pure virtual

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.

Implemented in cloudViewer::pipelines::registration::TransformationEstimationPointToPlane, cloudViewer::pipelines::registration::TransformationEstimationPointToPoint, cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP, and cloudViewer::pipelines::registration::TransformationEstimationForColoredICP.

ComputeTransformation()

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

pure virtual

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.

Implemented in cloudViewer::pipelines::registration::TransformationEstimationPointToPlane, cloudViewer::pipelines::registration::TransformationEstimationPointToPoint, cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP, and cloudViewer::pipelines::registration::TransformationEstimationForColoredICP.

Referenced by cloudViewer::pipelines::registration::RegistrationICP(), and cloudViewer::pipelines::registration::RegistrationRANSACBasedOnCorrespondence().

GetTransformationEstimationType()

virtual TransformationEstimationType cloudViewer::pipelines::registration::TransformationEstimation::GetTransformationEstimationType ( ) const

pure virtual

Implemented in cloudViewer::pipelines::registration::TransformationEstimationPointToPlane, cloudViewer::pipelines::registration::TransformationEstimationPointToPoint, cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP, and cloudViewer::pipelines::registration::TransformationEstimationForColoredICP.

Referenced by cloudViewer::pipelines::registration::RegistrationICP().

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

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