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>

Inheritance diagram for pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >:

Collaboration diagram for pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >:

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 &parameters, 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...

Detailed Description

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

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

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: Matthew Cong

Definition at line 59 of file transformation_estimation_symmetric_point_to_plane_lls.h.

Member Typedef Documentation

◆ ConstPtr

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

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.

◆ Matrix4

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

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.

◆ Ptr

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

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.

◆ Vector6

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

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.

Constructor & Destructor Documentation

◆ TransformationEstimationSymmetricPointToPlaneLLS()

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

pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::TransformationEstimationSymmetricPointToPlaneLLS ( )

default

◆ ~TransformationEstimationSymmetricPointToPlaneLLS()

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

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

overridedefault

Member Function Documentation

◆ constructTransformationMatrix()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::constructTransformationMatrix	(	const Vector6 &	parameters,
		Matrix4 &	transformation_matrix
	)		const

inlineprotected

Construct a 4 by 4 transformation matrix from the provided rotation and translation.

Parameters

[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.

◆ estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::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 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 93 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.

◆ estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::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 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 70 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.

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

◆ estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::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 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 117 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.

◆ estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::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 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 48 of file transformation_estimation_symmetric_point_to_plane_lls.hpp.

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

◆ estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	ConstCloudIterator< PointSource > &	source_it,
		ConstCloudIterator< PointTarget > &	target_it,
		Matrix4 &	transformation_matrix
	)		const

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
[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().

◆ getEnforceSameDirectionNormals()

template<typename PointSource , typename PointTarget , typename Scalar >

bool pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::getEnforceSameDirectionNormals

inline

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.

◆ setEnforceSameDirectionNormals()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::setEnforceSameDirectionNormals ( bool enforce_same_direction_normals )

inline

Set whether or not to negate source or target normals on a per-point basis such that they point in the same direction.

Parameters

[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.

Member Data Documentation

◆ enforce_same_direction_normals_

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

bool pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar >::enforce_same_direction_normals_ {true}

protected

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.

The documentation for this class was generated from the following files:

pcl/registration/transformation_estimation_symmetric_point_to_plane_lls.h
pcl/registration/impl/transformation_estimation_symmetric_point_to_plane_lls.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Matrix4

◆ Ptr

◆ Vector6

Constructor & Destructor Documentation

◆ TransformationEstimationSymmetricPointToPlaneLLS()

◆ ~TransformationEstimationSymmetricPointToPlaneLLS()

Member Function Documentation

◆ constructTransformationMatrix()

◆ estimateRigidTransformation() [1/5]

◆ estimateRigidTransformation() [2/5]

◆ estimateRigidTransformation() [3/5]

◆ estimateRigidTransformation() [4/5]

◆ estimateRigidTransformation() [5/5]

◆ getEnforceSameDirectionNormals()

◆ setEnforceSameDirectionNormals()

Member Data Documentation

◆ enforce_same_direction_normals_

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