Point Cloud Library (PCL)
1.14.1-dev
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TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_lm.h>
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... | |
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.
Definition at line 58 of file transformation_estimation_lm.h.
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.
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4 |
Definition at line 77 of file transformation_estimation_lm.h.
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Ptr = shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> > |
Definition at line 70 of file transformation_estimation_lm.h.
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Vector4 = Eigen::Matrix<MatScalar, 4, 1> |
Definition at line 76 of file transformation_estimation_lm.h.
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1> |
Definition at line 75 of file transformation_estimation_lm.h.
pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::TransformationEstimationLM |
Constructor.
Definition at line 49 of file transformation_estimation_lm.hpp.
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inline |
Copy constructor.
[in] | src | the TransformationEstimationLM object to copy into this |
Definition at line 86 of file transformation_estimation_lm.h.
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overridedefault |
Destructor.
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inlineprotectedvirtual |
Compute the distance between a source point and its corresponding target point.
[in] | p_src | The source point |
[in] | p_tgt | The target point |
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.
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inlineprotectedvirtual |
Compute the distance between a source point and its corresponding target point.
[in] | p_src | The source point |
[in] | p_tgt | The target point |
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.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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().
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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().
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inline |
Copy operator.
[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_.
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inline |
Set the function we use to warp points.
Defaults to rigid 6D warp.
[in] | warp_fcn | a shared pointer to an object that warps points |
Definition at line 165 of file transformation_estimation_lm.h.
References pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::warp_point_.
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mutableprotected |
Temporary pointer to the source dataset indices.
Definition at line 211 of file transformation_estimation_lm.h.
Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().
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mutableprotected |
Temporary pointer to the target dataset indices.
Definition at line 214 of file transformation_estimation_lm.h.
Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().
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mutableprotected |
Temporary pointer to the source dataset.
Definition at line 205 of file transformation_estimation_lm.h.
Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().
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mutableprotected |
Temporary pointer to the target dataset.
Definition at line 208 of file transformation_estimation_lm.h.
Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().
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protected |
The parameterized function used to warp the source to the target.
Definition at line 218 of file transformation_estimation_lm.h.
Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::setWarpFunction().