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 >:

Public Types
typedef boost::shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > >	ConstPtr

typedef pcl::PointCloud< PointSource >	PointCloudSource

typedef PointCloudSource::Ptr	PointCloudSourcePtr

typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr

typedef pcl::PointCloud< PointTarget >	PointCloudTarget

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef Eigen::Matrix< Scalar, 4, 1 >	Vector4

Public Types inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >
typedef boost::shared_ptr< TransformationEstimationLM< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr< const TransformationEstimationLM< PointSource, PointTarget, Scalar > >	ConstPtr

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorX

typedef Eigen::Matrix< Scalar, 4, 1 >	Vector4

typedef TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4	Matrix4

Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4

typedef boost::shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >	Ptr

typedef boost::shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >	ConstPtr

Public Member Functions
	TransformationEstimationPointToPlane ()

virtual	~TransformationEstimationPointToPlane ()

Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >
	TransformationEstimationLM ()
	Constructor. More...

	TransformationEstimationLM (const TransformationEstimationLM &src)
	Copy constructor. More...

TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator. More...

virtual	~TransformationEstimationLM ()
	Destructor. More...

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...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &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...

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target point cloud using LM. More...

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...

void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget, Scalar > > &warp_fcn)
	Set the function we use to warp points. More...

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
	TransformationEstimation ()

virtual	~TransformationEstimation ()

Protected Member Functions
virtual Scalar	computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
	Compute the distance between a source point and its corresponding target point. More...

virtual Scalar	computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
	Compute the distance between a source point and its corresponding target point. More...

Additional Inherited Members
Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >
const PointCloudSource *	tmp_src_
	Temporary pointer to the source dataset. More...

const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset. More...

const std::vector< int > *	tmp_idx_src_
	Temporary pointer to the source dataset indices. More...

const std::vector< int > *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices. More...

boost::shared_ptr< pcl::registration::WarpPointRigid< PointSource, PointTarget, Scalar > >	warp_point_
	The parameterized function used to warp the source to the target. More...

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 58 of file transformation_estimation_point_to_plane.h.

Member Typedef Documentation

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

typedef boost::shared_ptr<const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::ConstPtr

Definition at line 62 of file transformation_estimation_point_to_plane.h.

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

typedef pcl::PointCloud<PointSource> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSource

Definition at line 64 of file transformation_estimation_point_to_plane.h.

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

typedef PointCloudSource::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr

Definition at line 66 of file transformation_estimation_point_to_plane.h.

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

typedef PointCloudSource::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourcePtr

Definition at line 65 of file transformation_estimation_point_to_plane.h.

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

typedef pcl::PointCloud<PointTarget> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudTarget

Definition at line 67 of file transformation_estimation_point_to_plane.h.

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

typedef PointIndices::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesConstPtr

Definition at line 69 of file transformation_estimation_point_to_plane.h.

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

typedef PointIndices::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesPtr

Definition at line 68 of file transformation_estimation_point_to_plane.h.

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

typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::Ptr

Definition at line 61 of file transformation_estimation_point_to_plane.h.

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

typedef Eigen::Matrix<Scalar, 4, 1> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::Vector4

Definition at line 71 of file transformation_estimation_point_to_plane.h.

Constructor & Destructor Documentation

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

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

inline

Definition at line 73 of file transformation_estimation_point_to_plane.h.

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

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

inlinevirtual

Definition at line 74 of file transformation_estimation_point_to_plane.h.

Member Function Documentation

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

virtual Scalar pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::computeDistance	(	const PointSource &	p_src,
		const PointTarget &	p_tgt
	)		const

inlineprotectedvirtual

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, Scalar >.

Definition at line 78 of file transformation_estimation_point_to_plane.h.

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

virtual Scalar pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::computeDistance	(	const Vector4 &	p_src,
		const PointTarget &	p_tgt
	)		const

inlineprotectedvirtual

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: A different distance function can be defined by creating a subclass of TransformationEstimationLM and overriding this method. (See TransformationEstimationPointToPlane)

Reimplemented from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, Scalar >.

Definition at line 88 of file transformation_estimation_point_to_plane.h.

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

/build/pcl-6_P28C/pcl-1.7.2/registration/include/pcl/registration/transformation_estimation_point_to_plane.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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