TransformationEstimationPointToPlaneWeighted 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_weighted.h>
Classes | |
struct | Functor |
Base functor all the models that need non linear optimization must define their own one and implement operator() (const Eigen::VectorXd& x, Eigen::VectorXd& fvec) or operator() (const Eigen::VectorXf& x, Eigen::VectorXf& fvec) depending on the chosen _Scalar. More... |
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struct | OptimizationFunctor |
struct | OptimizationFunctorWithIndices |
Public Types | |
using | Ptr = shared_ptr< TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > > |
using | ConstPtr = shared_ptr< const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > > |
using | VectorX = Eigen::Matrix< MatScalar, Eigen::Dynamic, 1 > |
using | Vector4 = Eigen::Matrix< MatScalar, 4, 1 > |
using | Matrix4 = typename TransformationEstimation< PointSource, PointTarget, MatScalar >::Matrix4 |
Public Types inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float > | |
using | Ptr = shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, float > > |
using | ConstPtr = shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, float > > |
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< float, 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 | |
TransformationEstimationPointToPlaneWeighted () | |
Constructor. More... |
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TransformationEstimationPointToPlaneWeighted (const TransformationEstimationPointToPlaneWeighted &src) | |
Copy constructor. More... |
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TransformationEstimationPointToPlaneWeighted & | operator= (const TransformationEstimationPointToPlaneWeighted &src) |
Copy operator. More... |
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virtual | ~TransformationEstimationPointToPlaneWeighted () |
Destructor. More... |
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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 LM. More... |
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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 LM. More... |
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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 LM. More... |
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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 LM. More... |
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void | setWeights (const std::vector< double > &weights) |
void | setUseCorrespondenceWeights (bool use_correspondence_weights) |
use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods More... |
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void | setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr &warp_fcn) |
Set the function we use to warp points. More... |
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Public Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float > | |
TransformationEstimationPointToPlane () | |
~TransformationEstimationPointToPlane () | |
Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float > | |
TransformationEstimationLM () | |
Constructor. More... |
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TransformationEstimationLM (const TransformationEstimationLM &src) | |
Copy constructor. More... |
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TransformationEstimationLM & | operator= (const TransformationEstimationLM &src) |
Copy operator. More... |
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~TransformationEstimationLM () | |
Destructor. More... |
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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... |
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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... |
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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... |
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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... |
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void | setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, float >::Ptr &warp_fcn) |
Set the function we use to warp points. More... |
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Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > | |
TransformationEstimation () | |
virtual | ~TransformationEstimation () |
Protected Attributes | |
bool | use_correspondence_weights_ |
std::vector< double > | correspondence_weights_ |
const PointCloudSource * | tmp_src_ |
Temporary pointer to the source dataset. More... |
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const PointCloudTarget * | tmp_tgt_ |
Temporary pointer to the target dataset. More... |
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const pcl::Indices * | tmp_idx_src_ |
Temporary pointer to the source dataset indices. More... |
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const pcl::Indices * | tmp_idx_tgt_ |
Temporary pointer to the target dataset indices. More... |
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pcl::registration::WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr | warp_point_ |
The parameterized function used to warp the source to the target. More... |
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Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float > | |
const PointCloudSource * | tmp_src_ |
Temporary pointer to the source dataset. More... |
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const PointCloudTarget * | tmp_tgt_ |
Temporary pointer to the target dataset. More... |
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const pcl::Indices * | tmp_idx_src_ |
Temporary pointer to the source dataset indices. More... |
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const pcl::Indices * | tmp_idx_tgt_ |
Temporary pointer to the target dataset indices. More... |
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pcl::registration::WarpPointRigid< PointSource, PointTarget, float >::Ptr | warp_point_ |
The parameterized function used to warp the source to the target. More... |
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Additional Inherited Members | |
Protected Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float > | |
float | computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const override |
Compute the distance between a source point and its corresponding target point. More... |
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float | computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const override |
TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.
In addition to the TransformationEstimationPointToPlane class, this version takes per-correspondence weights and optimizes accordingly.
Definition at line 59 of file transformation_estimation_point_to_plane_weighted.h.
using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::ConstPtr = shared_ptr<const TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> > |
Definition at line 77 of file transformation_estimation_point_to_plane_weighted.h.
using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4 |
Definition at line 82 of file transformation_estimation_point_to_plane_weighted.h.
using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Ptr = shared_ptr<TransformationEstimationPointToPlaneWeighted<PointSource, PointTarget, MatScalar> > |
Definition at line 73 of file transformation_estimation_point_to_plane_weighted.h.
using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Vector4 = Eigen::Matrix<MatScalar, 4, 1> |
Definition at line 80 of file transformation_estimation_point_to_plane_weighted.h.
using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1> |
Definition at line 79 of file transformation_estimation_point_to_plane_weighted.h.
pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::TransformationEstimationPointToPlaneWeighted |
Constructor.
Definition at line 53 of file transformation_estimation_point_to_plane_weighted.hpp.
| inline |
Copy constructor.
[in] | src | the TransformationEstimationPointToPlaneWeighted object to copy into this |
Definition at line 91 of file transformation_estimation_point_to_plane_weighted.h.
| inlinevirtual |
Destructor.
Definition at line 118 of file transformation_estimation_point_to_plane_weighted.h.
| inline |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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 178 of file transformation_estimation_point_to_plane_weighted.hpp.
| inline |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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 137 of file transformation_estimation_point_to_plane_weighted.hpp.
References pcl::PointCloud< PointT >::size().
| inline |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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 253 of file transformation_estimation_point_to_plane_weighted.hpp.
| inline |
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
[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 66 of file transformation_estimation_point_to_plane_weighted.hpp.
References pcl::PointCloud< PointT >::size().
| inline |
Copy operator.
[in] | src | the TransformationEstimationPointToPlaneWeighted object to copy into this |
Definition at line 106 of file transformation_estimation_point_to_plane_weighted.h.
References pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::correspondence_weights_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_src_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_src_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_tgt_, pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::use_correspondence_weights_, and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::warp_point_.
| inline |
use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods
Definition at line 184 of file transformation_estimation_point_to_plane_weighted.h.
| inline |
Set the function we use to warp points.
Defaults to rigid 6D warp.
[in] | warp_fcn | a shared pointer to an object that warps points |
Definition at line 193 of file transformation_estimation_point_to_plane_weighted.h.
| inline |
| mutableprotected |
Definition at line 201 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWeights().
| mutableprotected |
Temporary pointer to the source dataset indices.
Definition at line 210 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().
| mutableprotected |
Temporary pointer to the target dataset indices.
Definition at line 213 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().
| mutableprotected |
Temporary pointer to the source dataset.
Definition at line 204 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().
| mutableprotected |
Temporary pointer to the target dataset.
Definition at line 207 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=().
| protected |
Definition at line 200 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setUseCorrespondenceWeights().
| protected |
The parameterized function used to warp the source to the target.
Definition at line 217 of file transformation_estimation_point_to_plane_weighted.h.
Referenced by pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWarpFunction().
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Licensed under the BSD License.
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