TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. More...

#include <pcl/registration/transformation_estimation_point_to_plane_weighted.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >:

Collaboration diagram for pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >:

Classes
struct	Functor
	Base functor all the models that need non linear optimization must define their own one and implement operator() (const Eigen::VectorXd& x, Eigen::VectorXd& fvec) or operator() (const Eigen::VectorXf& x, Eigen::VectorXf& fvec) dependening on the choosen _Scalar. More...

struct	OptimizationFunctor

struct	OptimizationFunctorWithIndices

Public Types
typedef boost::shared_ptr < TransformationEstimationPointToPlaneWeighted < PointSource, PointTarget, MatScalar > >	Ptr

typedef boost::shared_ptr < const TransformationEstimationPointToPlaneWeighted < PointSource, PointTarget, MatScalar > >	ConstPtr

typedef Eigen::Matrix < MatScalar, Eigen::Dynamic, 1 >	VectorX

typedef Eigen::Matrix < MatScalar, 4, 1 >	Vector4

typedef TransformationEstimation < PointSource, PointTarget, MatScalar >::Matrix4	Matrix4

Public Types inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >
typedef boost::shared_ptr < TransformationEstimationPointToPlane < PointSource, PointTarget, MatScalar > >	Ptr

typedef boost::shared_ptr < const TransformationEstimationPointToPlane < PointSource, PointTarget, MatScalar > >	ConstPtr

typedef pcl::PointCloud < PointSource >	PointCloudSource

typedef PointCloudSource::Ptr	PointCloudSourcePtr

typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr

typedef pcl::PointCloud < PointTarget >	PointCloudTarget

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef Eigen::Matrix < MatScalar, 4, 1 >	Vector4

Public Types inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >
typedef boost::shared_ptr < TransformationEstimationLM < PointSource, PointTarget, MatScalar > >	Ptr

typedef boost::shared_ptr < const TransformationEstimationLM < PointSource, PointTarget, MatScalar > >	ConstPtr

typedef Eigen::Matrix < MatScalar, Eigen::Dynamic, 1 >	VectorX

typedef Eigen::Matrix < MatScalar, 4, 1 >	Vector4

typedef TransformationEstimation < PointSource, PointTarget, MatScalar >::Matrix4	Matrix4

Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, MatScalar >
typedef Eigen::Matrix < MatScalar, 4, 4 >	Matrix4

typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget, MatScalar > >	Ptr

typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget, MatScalar > >	ConstPtr

Public Member Functions
	TransformationEstimationPointToPlaneWeighted ()
	Constructor. More...

	TransformationEstimationPointToPlaneWeighted (const TransformationEstimationPointToPlaneWeighted &src)
	Copy constructor. More...

TransformationEstimationPointToPlaneWeighted &	operator= (const TransformationEstimationPointToPlaneWeighted &src)
	Copy operator. More...

virtual	~TransformationEstimationPointToPlaneWeighted ()
	Destructor. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	setWeights (const std::vector< double > &weights)

void	setUseCorrespondenceWeights (bool use_correspondence_weights)
	use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods More...

void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget, MatScalar > > &warp_fcn)
	Set the function we use to warp points. More...

Public Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >
	TransformationEstimationPointToPlane ()

virtual	~TransformationEstimationPointToPlane ()

Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >
	TransformationEstimationLM ()
	Constructor. More...

	TransformationEstimationLM (const TransformationEstimationLM &src)
	Copy constructor. More...

TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator. More...

virtual	~TransformationEstimationLM ()
	Destructor. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget, MatScalar > > &warp_fcn)
	Set the function we use to warp points. More...

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, MatScalar >
	TransformationEstimation ()

virtual	~TransformationEstimation ()

virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const =0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const =0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

Protected Attributes
bool	use_correspondence_weights_

std::vector< double >	correspondence_weights_

const PointCloudSource *	tmp_src_
	Temporary pointer to the source dataset. More...

const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset. More...

const std::vector< int > *	tmp_idx_src_
	Temporary pointer to the source dataset indices. More...

const std::vector< int > *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices. More...

boost::shared_ptr < pcl::registration::WarpPointRigid < PointSource, PointTarget, MatScalar > >	warp_point_
	The parameterized function used to warp the source to the target. More...

Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >
const PointCloudSource *	tmp_src_
	Temporary pointer to the source dataset. More...

const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset. More...

const std::vector< int > *	tmp_idx_src_
	Temporary pointer to the source dataset indices. More...

const std::vector< int > *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices. More...

boost::shared_ptr < pcl::registration::WarpPointRigid < PointSource, PointTarget, MatScalar > >	warp_point_
	The parameterized function used to warp the source to the target. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >
virtual MatScalar	computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
	Compute the distance between a source point and its corresponding target point. More...

virtual MatScalar	computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
	Compute the distance between a source point and its corresponding target point. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename MatScalar = float>
class pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >

TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.

In addition to the TransformationEstimationPointToPlane class, this version takes per-correspondence weights and optimizes accordingly.

Author: Alexandru-Eugen Ichim

Definition at line 59 of file transformation_estimation_point_to_plane_weighted.h.

Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename MatScalar = float>

typedef boost::shared_ptr<const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> > pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::ConstPtr

Definition at line 72 of file transformation_estimation_point_to_plane_weighted.h.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

typedef TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4 pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Matrix4

Definition at line 76 of file transformation_estimation_point_to_plane_weighted.h.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

typedef boost::shared_ptr<TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> > pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Ptr

Definition at line 71 of file transformation_estimation_point_to_plane_weighted.h.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

typedef Eigen::Matrix<MatScalar, 4, 1> pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Vector4

Definition at line 75 of file transformation_estimation_point_to_plane_weighted.h.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

typedef Eigen::Matrix<MatScalar, Eigen::Dynamic, 1> pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::VectorX

Definition at line 74 of file transformation_estimation_point_to_plane_weighted.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename MatScalar >

pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::TransformationEstimationPointToPlaneWeighted ( )

Constructor.

Definition at line 50 of file transformation_estimation_point_to_plane_weighted.hpp.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::TransformationEstimationPointToPlaneWeighted ( const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > & src )

inline

Copy constructor.

Parameters

[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this

Definition at line 84 of file transformation_estimation_point_to_plane_weighted.h.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

virtual pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::~TransformationEstimationPointToPlaneWeighted ( )

inlinevirtual

Destructor.

Definition at line 110 of file transformation_estimation_point_to_plane_weighted.h.

Member Function Documentation

template<typename PointSource , typename PointTarget , typename MatScalar >

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Note: Uses the weights given by setWeights.

Definition at line 63 of file transformation_estimation_point_to_plane_weighted.hpp.

References pcl::PointCloud< T >::points, and pcl::PointCloud< T >::size().

template<typename PointSource , typename PointTarget , typename MatScalar >

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Note: Uses the weights given by setWeights.

Definition at line 124 of file transformation_estimation_point_to_plane_weighted.hpp.

References pcl::PointCloud< T >::points.

template<typename PointSource , typename PointTarget , typename MatScalar >

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const std::vector< int > &	indices_tgt,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[in]	indices_tgt	the vector of indices describing the correspondences of the interst points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Note: Uses the weights given by setWeights.

Definition at line 159 of file transformation_estimation_point_to_plane_weighted.hpp.

template<typename PointSource , typename PointTarget , typename MatScalar >

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[in]	correspondences	the vector of correspondences between source and target point cloud
[out]	transformation_matrix	the resultant transformation matrix

Note: Uses the weights given by setWeights.

Definition at line 222 of file transformation_estimation_point_to_plane_weighted.hpp.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

TransformationEstimationPointToPlaneWeighted& pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator= ( const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > & src )

inline

Copy operator.

Parameters

[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this

Definition at line 98 of file transformation_estimation_point_to_plane_weighted.h.

References pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::correspondence_weights_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_src_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_src_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_tgt_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::use_correspondence_weights_, and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::warp_point_.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setUseCorrespondenceWeights ( bool use_correspondence_weights )

inline

use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods

Definition at line 176 of file transformation_estimation_point_to_plane_weighted.h.

References pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::use_correspondence_weights_.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWarpFunction ( const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget, MatScalar > > & warp_fcn )

inline

Set the function we use to warp points.

Defaults to rigid 6D warp.

Parameters

[in] warp_fcn a shared pointer to an object that warps points

Definition at line 183 of file transformation_estimation_point_to_plane_weighted.h.

References pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::warp_point_.

template<typename PointSource , typename PointTarget , typename MatScalar = float>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWeights ( const std::vector< double > & weights )

inline

Definition at line 171 of file transformation_estimation_point_to_plane_weighted.h.

References pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::correspondence_weights_.

Member Data Documentation

template<typename PointSource , typename PointTarget , typename MatScalar = float>

std::vector<double> pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::correspondence_weights_

mutableprotected

Definition at line 188 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWeights().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

const std::vector<int>* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_src_

mutableprotected

Temporary pointer to the source dataset indices.

Definition at line 197 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

const std::vector<int>* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_

mutableprotected

Temporary pointer to the target dataset indices.

Definition at line 200 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

const PointCloudSource* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_src_

mutableprotected

Temporary pointer to the source dataset.

Definition at line 191 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

const PointCloudTarget* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_tgt_

mutableprotected

Temporary pointer to the target dataset.

Definition at line 194 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

bool pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::use_correspondence_weights_

protected

Definition at line 187 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setUseCorrespondenceWeights().

template<typename PointSource , typename PointTarget , typename MatScalar = float>

boost::shared_ptr<pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar> > pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::warp_point_

protected

The parameterized function used to warp the source to the target.

Definition at line 203 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWarpFunction().

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/registration/include/pcl/registration/transformation_estimation_point_to_plane_weighted.h
/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/registration/include/pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointSource, typename PointTarget, typename MatScalar = float> class pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointSource, typename PointTarget, typename MatScalar = float>
class pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >