TransformationEstimationPointToPlane 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.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >:

Collaboration diagram for pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >:

Public Types
using	Ptr

using	ConstPtr

using	PointCloudSource = pcl::PointCloud<PointSource>

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = pcl::PointCloud<PointTarget>

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

using	Vector4 = Eigen::Matrix<Scalar, 4, 1>

Public Types inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >
using	Ptr

using	ConstPtr

using	VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>

using	Vector4 = Eigen::Matrix<MatScalar, 4, 1>

using	Matrix4

Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
using	Matrix4 = Eigen::Matrix<Scalar, 4, 4>

using	Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>>

using	ConstPtr

Public Member Functions
	TransformationEstimationPointToPlane ()

	~TransformationEstimationPointToPlane ()

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

	TransformationEstimationLM (const TransformationEstimationLM &src)
	Copy constructor.

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

	~TransformationEstimationLM ()
	Destructor.

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

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

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

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

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

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
	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.

virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &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.

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

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.

Protected Member Functions
Scalar	computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const override
	Compute the distance between a source point and its corresponding target point.

Scalar	computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const override

Protected Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >
virtual MatScalar	computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
	Compute the distance between a source point and its corresponding target point.

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

const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset.

const pcl::Indices *	tmp_idx_src_
	Temporary pointer to the source dataset indices.

const pcl::Indices *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices.

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

Detailed Description

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

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

Author: Michael Dixon

Definition at line 57 of file transformation_estimation_point_to_plane.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::ConstPtr

Initial value:

shared_ptr<

const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>

Definition at line 62 of file transformation_estimation_point_to_plane.h.

◆ PointCloudSource

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource>

Definition at line 65 of file transformation_estimation_point_to_plane.h.

◆ PointCloudSourceConstPtr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 67 of file transformation_estimation_point_to_plane.h.

◆ PointCloudSourcePtr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 66 of file transformation_estimation_point_to_plane.h.

◆ PointCloudTarget

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget>

Definition at line 68 of file transformation_estimation_point_to_plane.h.

◆ PointIndicesConstPtr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 70 of file transformation_estimation_point_to_plane.h.

◆ PointIndicesPtr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesPtr = PointIndices::Ptr

Definition at line 69 of file transformation_estimation_point_to_plane.h.

◆ Ptr

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::Ptr

Initial value:

shared_ptr<

TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>

Definition at line 60 of file transformation_estimation_point_to_plane.h.

◆ Vector4

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

using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::Vector4 = Eigen::Matrix<Scalar, 4, 1>

Definition at line 72 of file transformation_estimation_point_to_plane.h.

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPlane()

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

pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::TransformationEstimationPointToPlane ( )

inline

Definition at line 74 of file transformation_estimation_point_to_plane.h.

◆ ~TransformationEstimationPointToPlane()

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

pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::~TransformationEstimationPointToPlane ( )

inline

Definition at line 75 of file transformation_estimation_point_to_plane.h.

Member Function Documentation

◆ computeDistance() [1/2]

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

Scalar pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::computeDistance	(	const PointSource &	p_src,
		const PointTarget &	p_tgt ) const

inlineoverrideprotectedvirtual

Compute the distance between a source point and its corresponding target point.

Parameters

[in]	p_src	The source point
[in]	p_tgt	The target point

Returns: The distance between p_src and p_tgt

Note: Older versions of PCL used this method internally for calculating the optimization gradient. Since PCL 1.7, a switch has been made to the computeDistance method using Vector4 types instead. This method is only kept for API compatibility reasons.

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >.

Definition at line 79 of file transformation_estimation_point_to_plane.h.

◆ computeDistance() [2/2]

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

Scalar pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::computeDistance	(	const Vector4 &	p_src,
		const PointTarget &	p_tgt ) const

inlineoverrideprotected

Definition at line 89 of file transformation_estimation_point_to_plane.h.

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

pcl/registration/transformation_estimation_point_to_plane.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointIndicesConstPtr

◆ PointIndicesPtr

◆ Ptr

◆ Vector4

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPlane()

◆ ~TransformationEstimationPointToPlane()

Member Function Documentation

◆ computeDistance() [1/2]

◆ computeDistance() [2/2]