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
using	ConstPtr
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
using	ConstPtr
using	VectorX
using	Vector4
using	Matrix4
Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using	Matrix4
using	Ptr
using	ConstPtr

Public Member Functions
	TransformationEstimationPointToPlane ()=default
	~TransformationEstimationPointToPlane () override=default
Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
	TransformationEstimationLM ()
	Constructor.
TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator.
	~TransformationEstimationLM () override=default
	Destructor.
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.
void	setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, float >::Ptr &warp_fcn)
	Set the function we use to warp points.
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.

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

Additional Inherited Members
Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
const PointCloudSource *	tmp_src_
	Temporary pointer to the source dataset.
const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset.
const pcl::Indices *	tmp_idx_src_
	Temporary pointer to the source dataset indices.
const pcl::Indices *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices.
pcl::registration::WarpPointRigid< PointSource, PointTarget, float >::Ptr	warp_point_
	The parameterized function used to warp the source to the target.

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

Initial value:

shared_ptr<

const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>

pcl::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane

TransformationEstimationPointToPlane()=default

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

Initial value:

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

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]