Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions
pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar > Class Template Reference

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default. More...

#include <pcl/registration/icp.h>

+ Inheritance diagram for pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >:

List of all members.

Public Types

typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudSource 
PointCloudSource
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::PointCloudTarget 
PointCloudTarget
typedef IterativeClosestPoint
< PointSource, PointTarget,
Scalar >::Matrix4 
Matrix4
typedef boost::shared_ptr
< IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
Ptr
typedef boost::shared_ptr
< const IterativeClosestPoint
< PointSource, PointTarget,
Scalar > > 
ConstPtr

Public Member Functions

 IterativeClosestPointWithNormals ()
 Empty constructor.
virtual ~IterativeClosestPointWithNormals ()
 Empty destructor.

Protected Member Functions

virtual void transformCloud (const PointCloudSource &input, PointCloudSource &output, const Matrix4 &transform)
 Apply a rigid transform to a given dataset.

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >

IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

Author:
Radu B. Rusu

Definition at line 290 of file icp.h.


Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<const IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 302 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 295 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudSource

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 293 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::PointCloudTarget

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 294 of file icp.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>
typedef boost::shared_ptr<IterativeClosestPoint<PointSource, PointTarget, Scalar> > pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 301 of file icp.h.


Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::IterativeClosestPointWithNormals ( ) [inline]
template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::~IterativeClosestPointWithNormals ( ) [inline, virtual]

Empty destructor.

Definition at line 313 of file icp.h.


Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::IterativeClosestPointWithNormals< PointSource, PointTarget, Scalar >::transformCloud ( const PointCloudSource input,
PointCloudSource output,
const Matrix4 transform 
) [protected, virtual]

Apply a rigid transform to a given dataset.

Parameters:
[in]inputthe input point cloud
[out]outputthe resultant output point cloud
[in]transforma 4x4 rigid transformation
Note:
Can be used with cloud_in equal to cloud_out

Reimplemented from pcl::IterativeClosestPoint< PointSource, PointTarget, Scalar >.

Definition at line 232 of file icp.hpp.

References pcl::transformPointCloudWithNormals().


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