TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_lm.h>

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

Collaboration diagram for pcl::registration::TransformationEstimationLM< 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) depending on the chosen _Scalar. More...

struct	OptimizationFunctor

struct	OptimizationFunctorWithIndices

Public Types
using	Ptr = shared_ptr< TransformationEstimationLM< PointSource, PointTarget, MatScalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationLM< PointSource, PointTarget, MatScalar > >

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

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

using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, MatScalar >::Matrix4

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

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

using	ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > >

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

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

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

	~TransformationEstimationLM () override=default
	Destructor. More...

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. More...

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. More...

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. More...

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. More...

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

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

virtual	~TransformationEstimation ()=default

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 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. More...

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. 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 Member Functions
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...

Protected Attributes
const PointCloudSource *	tmp_src_ {nullptr}
	Temporary pointer to the source dataset. More...

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

const pcl::Indices *	tmp_idx_src_ {nullptr}
	Temporary pointer to the source dataset indices. More...

const pcl::Indices *	tmp_idx_tgt_ {nullptr}
	Temporary pointer to the target dataset indices. More...

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

Detailed Description

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

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.

Note: The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.

Author: Radu B. Rusu

Definition at line 58 of file transformation_estimation_lm.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::ConstPtr = shared_ptr<const TransformationEstimationLM<PointSource, PointTarget, MatScalar> >

Definition at line 72 of file transformation_estimation_lm.h.

◆ Matrix4

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

using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4

Definition at line 77 of file transformation_estimation_lm.h.

◆ Ptr

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

using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Ptr = shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> >

Definition at line 70 of file transformation_estimation_lm.h.

◆ Vector4

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

using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Vector4 = Eigen::Matrix<MatScalar, 4, 1>

Definition at line 76 of file transformation_estimation_lm.h.

◆ VectorX

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

using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>

Definition at line 75 of file transformation_estimation_lm.h.

Constructor & Destructor Documentation

◆ TransformationEstimationLM() [1/2]

template<typename PointSource , typename PointTarget , typename MatScalar >

pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::TransformationEstimationLM

Constructor.

Definition at line 49 of file transformation_estimation_lm.hpp.

◆ TransformationEstimationLM() [2/2]

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

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

inline

Copy constructor.

Parameters

[in] src the TransformationEstimationLM object to copy into this

Definition at line 86 of file transformation_estimation_lm.h.

◆ ~TransformationEstimationLM()

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

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

overridedefault

Destructor.

Member Function Documentation

◆ computeDistance() [1/2]

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

virtual MatScalar pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::computeDistance	(	const PointSource &	p_src,
		const PointTarget &	p_tgt
	)		const

inlineprotectedvirtual

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 in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >.

Definition at line 182 of file transformation_estimation_lm.h.

◆ computeDistance() [2/2]

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

virtual MatScalar pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::computeDistance	(	const Vector4 &	p_src,
		const PointTarget &	p_tgt
	)		const

inlineprotectedvirtual

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: A different distance function can be defined by creating a subclass of TransformationEstimationLM and overriding this method. (See TransformationEstimationPointToPlane)

Reimplemented in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >.

Definition at line 198 of file transformation_estimation_lm.h.

◆ estimateRigidTransformation() [1/4]

template<typename PointSource , typename PointTarget , typename MatScalar >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::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

inlineoverride

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 interest points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 152 of file transformation_estimation_lm.hpp.

◆ estimateRigidTransformation() [2/4]

template<typename PointSource , typename PointTarget , typename MatScalar >

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

inlineoverride

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

Definition at line 121 of file transformation_estimation_lm.hpp.

References pcl::PointCloud< PointT >::size().

◆ estimateRigidTransformation() [3/4]

template<typename PointSource , typename PointTarget , typename MatScalar >

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

inlineoverride

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

Definition at line 219 of file transformation_estimation_lm.hpp.

◆ estimateRigidTransformation() [4/4]

template<typename PointSource , typename PointTarget , typename MatScalar >

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

inlineoverride

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

Definition at line 58 of file transformation_estimation_lm.hpp.

References pcl::PointCloud< PointT >::size().

◆ operator=()

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

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

inline

Copy operator.

Parameters

[in] src the TransformationEstimationLM object to copy into this

Definition at line 97 of file transformation_estimation_lm.h.

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

◆ setWarpFunction()

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

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::setWarpFunction ( const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr & warp_fcn )