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nrt::TransformationEstimationBase Class Referenceabstract

#include <nrt/PointCloud2/Registration/Transformation/TransformationEstimationBase.H>

Base class for all transformation estimation methods.

Transformation estimation methods compute a rigid transform between some source and target point cloud, optionally only considering points linked through some correspondence.

Definition at line 50 of file TransformationEstimationBase.H.

Inheritance diagram for nrt::TransformationEstimationBase:
nrt::TransformationEstimationLM nrt::TransformationEstimationPointToPlane nrt::TransformationEstimationPointToPlaneLLS nrt::TransformationEstimationSVD

Public Types

typedef std::shared_ptr
< TransformationEstimationBase
SharedPtr
 Convenience typedef for shared ptr to this.
 

Public Member Functions

virtual ~TransformationEstimationBase ()
 Virtual destruction.
 
virtual AffineTransform estimateTransform (PointCloud2 const source, PointCloud2 const target)=0
 Estimates a rigid transformation between a source and target cloud. More...
 
virtual AffineTransform estimateTransform (PointCloud2 const source, PointCloud2 const target, Correspondences const correspondences)=0
 Estimates a rigid transformation between a source and target cloud. More...
 
virtual size_t minimumNumCorrespondences () const =0
 Gets the minimum required number of correspondences to estimate a transform.
 

Member Function Documentation

virtual AffineTransform nrt::TransformationEstimationBase::estimateTransform ( PointCloud2 const  source,
PointCloud2 const  target 
)
pure virtual

Estimates a rigid transformation between a source and target cloud.

Parameters
sourceThe source point cloud
targetThe target point cloud
Returns
The 4x4 rotation matrix that performs the transform

Implemented in nrt::TransformationEstimationLM, nrt::TransformationEstimationPointToPlaneLLS, nrt::TransformationEstimationPointToPlane, and nrt::TransformationEstimationSVD.

virtual AffineTransform nrt::TransformationEstimationBase::estimateTransform ( PointCloud2 const  source,
PointCloud2 const  target,
Correspondences const  correspondences 
)
pure virtual

Estimates a rigid transformation between a source and target cloud.

Parameters
sourceThe source point cloud
targetThe target point cloud
correspondencesThe correspondences between two clouds
Returns
The 4x4 rotation matrix that performs the transform

Implemented in nrt::TransformationEstimationLM, nrt::TransformationEstimationPointToPlaneLLS, nrt::TransformationEstimationPointToPlane, and nrt::TransformationEstimationSVD.


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