Estimates a rigid transformation using point-to-plane linear least squares minimization. More...

Collaboration diagram for TransformationEstimationPointToPlaneLLS< t_type >:

Public Member Functions
void	estimateRigidTransformation (const Buffer< Vertex< 3, t_type > > *points, const Buffer< Correspondance > &correspondences, Matrix< t_type > &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target.
void	setReference (Buffer< Vertex< 3, t_type > > reference_points, Buffer< Ray< 3, t_type > > reference_normals)
	Sets the reference point cloud and its normals.

Protected Member Functions
void	constructTransformationMatrix (t_type alpha, t_type beta, t_type gamma, t_type tx, t_type ty, t_type tz, Matrix< t_type > &transformation_matrix) const
	Construct a 4 by 4 transformation matrix from the provided rotation and translation.

Protected Attributes
const Buffer< Ray< 3, t_type > > *	m_reference_normals
	The reference surface normals.
const Buffer< Vertex< 3, t_type > > *	m_reference_points
	The reference point cloud.

Detailed Description

template<typename t_type = float>
class TransformationEstimationPointToPlaneLLS< t_type >

Estimates a rigid transformation using point-to-plane linear least squares minimization.

Definition at line 20 of file TransformPointToPlaneLLS.h.

Member Function Documentation

template<typename t_type = float>

void TransformationEstimationPointToPlaneLLS< t_type >::constructTransformationMatrix	(	t_type	alpha,
		t_type	beta,
		t_type	gamma,
		t_type	tx,
		t_type	ty,
		t_type	tz,
		Matrix< t_type > &	transformation_matrix ) const

inlineprotected

Construct a 4 by 4 transformation matrix from the provided rotation and translation.

Parameters

[in]	alpha	the rotation about the x-axis
[in]	beta	the rotation about the y-axis
[in]	gamma	the rotation about the z-axis
[in]	tx	the x translation
[in]	ty	the y translation
[in]	tz	the z translation
[out]	transformation_matrix	the resultant transformation matrix

References cast(), and sin().

template<typename t_type = float>

void TransformationEstimationPointToPlaneLLS< t_type >::estimateRigidTransformation	(	const Buffer< Vertex< 3, t_type > > *	points,
		const Buffer< Correspondance > &	correspondences,
		Matrix< t_type > &	transformation_matrix ) const

inline

Estimate a rigid rotation transformation between a source and a target.

Parameters

[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 36 of file TransformPointToPlaneLLS.h.

template<typename t_type = float>

void TransformationEstimationPointToPlaneLLS< t_type >::setReference	(	Buffer< Vertex< 3, t_type > > *	reference_points,
		Buffer< Ray< 3, t_type > > *	reference_normals )

inline

Sets the reference point cloud and its normals.

Parameters

[in]	reference_points	The reference point buffer.
[in]	reference_normals	The reference normal buffer.

Definition at line 26 of file TransformPointToPlaneLLS.h.

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