TransformationEstimationPointToPlaneLLSWeighted implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals, with the possibility of assigning weights to the correspondences. More...
#include <pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h>
Inheritance diagram for pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >:
Collaboration diagram for pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >:
Public Types | |
| using | Ptr = shared_ptr< TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > > |
| using | Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::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 | |
| TransformationEstimationPointToPlaneLLSWeighted ()=default | |
| virtual | ~TransformationEstimationPointToPlaneLLSWeighted ()=default |
| 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 SVD. More... | |
| void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &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 SVD. 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 |
| Estimate a rigid rotation transformation between a source and a target point cloud using SVD. 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 SVD. More... | |
| void | setCorrespondenceWeights (const std::vector< Scalar > &weights) |
| Set the weights for the correspondences. 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 | |
| void | estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, typename std::vector< Scalar >::const_iterator &weights_it, Matrix4 &transformation_matrix) const |
| Estimate a rigid rotation transformation between a source and a target. More... | |
| void | constructTransformationMatrix (const double &alpha, const double &beta, const double &gamma, const double &tx, const double &ty, const double &tz, Matrix4 &transformation_matrix) const |
| Construct a 4 by 4 transformation matrix from the provided rotation and translation. More... | |
Protected Attributes | |
| std::vector< Scalar > | weights_ |
Detailed Description
template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >
TransformationEstimationPointToPlaneLLSWeighted implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals, with the possibility of assigning weights to the correspondences.
For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004
- 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.
Definition at line 63 of file transformation_estimation_point_to_plane_lls_weighted.h.
Member Typedef Documentation
◆ ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > |
Definition at line 69 of file transformation_estimation_point_to_plane_lls_weighted.h.
◆ Matrix4
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 |
Definition at line 74 of file transformation_estimation_point_to_plane_lls_weighted.h.
◆ Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > |
Definition at line 66 of file transformation_estimation_point_to_plane_lls_weighted.h.
Constructor & Destructor Documentation
◆ TransformationEstimationPointToPlaneLLSWeighted()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
default |
◆ ~TransformationEstimationPointToPlaneLLSWeighted()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
virtualdefault |
Member Function Documentation
◆ constructTransformationMatrix()
template<typename PointSource , typename PointTarget , typename Scalar >
|
inlineprotected |
Construct a 4 by 4 transformation matrix from the provided rotation and translation.
- Parameters
-
[in] alpha the rotation about the x-axis [in] beta the rotation about the y-axis [in] gamma the rotation about the z-axis [in] tx the x translation [in] ty the y translation [in] tz the z translation [out] transformation_matrix the resultant transformation matrix
Definition at line 161 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
◆ estimateRigidTransformation() [1/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 112 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
◆ estimateRigidTransformation() [2/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 81 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
References pcl::PointCloud< PointT >::size().
◆ estimateRigidTransformation() [3/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 144 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
◆ estimateRigidTransformation() [4/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inline |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
- 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 51 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
References pcl::PointCloud< PointT >::size().
◆ estimateRigidTransformation() [5/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
- Parameters
-
[in] source_it an iterator over the source point cloud dataset [in] target_it an iterator over the target point cloud dataset weights_it [out] transformation_matrix the resultant transformation matrix
Definition at line 194 of file transformation_estimation_point_to_plane_lls_weighted.hpp.
References pcl::ConstCloudIterator< PointT >::isValid().
◆ setCorrespondenceWeights()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
inline |
Set the weights for the correspondences.
- Parameters
-
[in] weights the weights for each correspondence
Definition at line 135 of file transformation_estimation_point_to_plane_lls_weighted.h.
Member Data Documentation
◆ weights_
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
protected |
The documentation for this class was generated from the following files:
- pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h
- pcl/registration/impl/transformation_estimation_point_to_plane_lls_weighted.hpp