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 |
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| using | Ptr = shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > |
| 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 > |
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| 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 > |
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| 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 |
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| TransformationEstimationPointToPlane () | |
| ~TransformationEstimationPointToPlane () | |
| Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float > |
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| 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 > |
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| TransformationEstimation () | |
| virtual | ~TransformationEstimation () |
Protected Member Functions |
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| Scalar | 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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| Scalar | computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const override |
| Protected Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float > |
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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. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float > |
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| 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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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.
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 = shared_ptr< const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > |
Definition at line 63 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 = shared_ptr< TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > |
Definition at line 61 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>
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inline |
Definition at line 74 of file transformation_estimation_point_to_plane.h.
~TransformationEstimationPointToPlane()
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inline |
Definition at line 75 of file transformation_estimation_point_to_plane.h.
Member Function Documentation
computeDistance() [1/2]
template<typename PointSource , typename PointTarget , typename Scalar = float>
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inlineoverrideprotectedvirtual |
Compute the distance between a source point and its corresponding target point.
- Parameters
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[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>
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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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html
