Point Cloud Library (PCL)
1.14.1-dev
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TransformationEstimationSymmetricPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the symmetric point-to-plane distance between two clouds of corresponding points with normals. More...
#include <pcl/registration/transformation_estimation_symmetric_point_to_plane_lls.h>
Public Types | |
using | Ptr = shared_ptr< TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar > > |
using | ConstPtr = shared_ptr< const TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar > > |
using | Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 |
using | Vector6 = Eigen::Matrix< Scalar, 6, 1 > |
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 | |
TransformationEstimationSymmetricPointToPlaneLLS ()=default | |
~TransformationEstimationSymmetricPointToPlaneLLS () override=default | |
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 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 override |
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 override |
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 override |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... | |
void | setEnforceSameDirectionNormals (bool enforce_same_direction_normals) |
Set whether or not to negate source or target normals on a per-point basis such that they point in the same direction. More... | |
bool | getEnforceSameDirectionNormals () |
Obtain whether source or target normals are negated on a per-point basis such that they point in the same direction or not. 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, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target. More... | |
void | constructTransformationMatrix (const Vector6 ¶meters, Matrix4 &transformation_matrix) const |
Construct a 4 by 4 transformation matrix from the provided rotation and translation. More... | |
Protected Attributes | |
bool | enforce_same_direction_normals_ {true} |
Whether or not to negate source and/or target normals such that they point in the same direction. More... | |
TransformationEstimationSymmetricPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the symmetric point-to-plane distance between two clouds of corresponding points with normals.
For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004 "A Symmetric Objective Function for ICP", Szymon Rusinkiewicz, 2019
Definition at line 59 of file transformation_estimation_symmetric_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationSymmetricPointToPlaneLLS<PointSource, PointTarget, Scalar> > |
Definition at line 65 of file transformation_estimation_symmetric_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 |
Definition at line 70 of file transformation_estimation_symmetric_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationSymmetricPointToPlaneLLS<PointSource, PointTarget, Scalar> > |
Definition at line 62 of file transformation_estimation_symmetric_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::Vector6 = Eigen::Matrix<Scalar, 6, 1> |
Definition at line 72 of file transformation_estimation_symmetric_point_to_plane_lls.h.
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inlineprotected |
Construct a 4 by 4 transformation matrix from the provided rotation and translation.
[in] | parameters | (alpha, beta, gamma, tx, ty, tz) specifying rotation about the x, y, and z-axis and translation along the the x, y, and z-axis respectively |
[out] | transformation_matrix | the resultant transformation matrix |
Definition at line 130 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 93 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 70 of file transformation_estimation_symmetric_point_to_plane_lls.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 SVD.
[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 117 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
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inlineoverride |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 48 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
References pcl::PointCloud< PointT >::size().
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inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
[in] | source_it | an iterator over the source point cloud dataset |
[in] | target_it | an iterator over the target point cloud dataset |
[out] | transformation_matrix | the resultant transformation matrix |
Definition at line 151 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
References pcl::ConstCloudIterator< PointT >::isValid(), and pcl::ConstCloudIterator< PointT >::reset().
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Obtain whether source or target normals are negated on a per-point basis such that they point in the same direction or not.
Definition at line 213 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
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Set whether or not to negate source or target normals on a per-point basis such that they point in the same direction.
[in] | enforce_same_direction_normals | whether to negate source or target normals on a per-point basis such that they point in the same direction. |
Definition at line 205 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.
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Whether or not to negate source and/or target normals such that they point in the same direction.
Definition at line 163 of file transformation_estimation_symmetric_point_to_plane_lls.h.