Point Cloud Library (PCL) 1.12.0
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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>
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> |
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using | Ptr |
using | ConstPtr |
using | VectorX |
using | Vector4 |
using | Matrix4 |
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using | Matrix4 |
using | Ptr |
using | ConstPtr |
Public Member Functions | |
TransformationEstimationPointToPlane () | |
~TransformationEstimationPointToPlane () | |
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TransformationEstimationLM () | |
Constructor. | |
TransformationEstimationLM (const TransformationEstimationLM &src) | |
Copy constructor. | |
TransformationEstimationLM & | operator= (const TransformationEstimationLM &src) |
Copy operator. | |
~TransformationEstimationLM () | |
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 | 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. | |
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. | |
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. | |
void | setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, float >::Ptr &warp_fcn) |
Set the function we use to warp points. | |
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TransformationEstimation () | |
virtual | ~TransformationEstimation () |
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. | |
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. | |
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. | |
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. | |
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 |
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virtual float | computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const |
Compute the distance between a source point and its corresponding target point. | |
Additional Inherited Members | |
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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. | |
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.
Definition at line 57 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::ConstPtr |
Definition at line 62 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSource = pcl::PointCloud<PointSource> |
Definition at line 65 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
Definition at line 67 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourcePtr = typename PointCloudSource::Ptr |
Definition at line 66 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudTarget = pcl::PointCloud<PointTarget> |
Definition at line 68 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 70 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 69 of file transformation_estimation_point_to_plane.h.
using pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::Ptr |
Definition at line 60 of file transformation_estimation_point_to_plane.h.
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.
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inline |
Definition at line 74 of file transformation_estimation_point_to_plane.h.
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inline |
Definition at line 75 of file transformation_estimation_point_to_plane.h.
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inlineoverrideprotectedvirtual |
Compute the distance between a source point and its corresponding target point.
[in] | p_src | The source point |
[in] | p_tgt | The target point |
Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >.
Definition at line 79 of file transformation_estimation_point_to_plane.h.
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inlineoverrideprotected |
Definition at line 89 of file transformation_estimation_point_to_plane.h.