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 = shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > >

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

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

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

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

using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, float >::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
	TransformationEstimationPointToPlane ()=default

	~TransformationEstimationPointToPlane () override=default

Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
	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, float >::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
Scalar	computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const override
	Compute the distance between a source point and its corresponding target point. More...

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

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

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

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

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

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

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

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 = 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 = 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 ( )

default

◆ ~TransformationEstimationPointToPlane()

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

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

overridedefault

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, float >.

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

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

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]

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