PointCloudLibrary

TransformationEstimationPointToPlaneLLSWeighted implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals, with the possibility of assigning weights to the correspondences. More...

#include <pcl/registration/transformation_estimation_point_to_plane_lls_weighted.h>

Public Types
using	Ptr = shared_ptr< TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > >

using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::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
	TransformationEstimationPointToPlaneLLSWeighted ()

virtual	~TransformationEstimationPointToPlaneLLSWeighted ()

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 SVD. More...

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 SVD. More...

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 SVD. 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 SVD. More...

void	setCorrespondenceWeights (const std::vector< Scalar > &weights)
	Set the weights for the correspondences. More...

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
	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. More...

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. More...

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. More...

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. More...

Protected Member Functions
void	estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, typename std::vector< Scalar >::const_iterator &weights_it, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target. More...

void	constructTransformationMatrix (const double &alpha, const double &beta, const double &gamma, const double &tx, const double &ty, const double &tz, Matrix4 &transformation_matrix) const
	Construct a 4 by 4 transformation matrix from the provided rotation and translation. More...

Protected Attributes
std::vector< Scalar >	weights_

Detailed Description

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

For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004

Note: The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.

Author: Alex Ichim

Definition at line 63 of file transformation_estimation_point_to_plane_lls_weighted.h.

Member Typedef Documentation

ConstPtr

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

using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >

Definition at line 72 of file transformation_estimation_point_to_plane_lls_weighted.h.

Matrix4

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

using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 75 of file transformation_estimation_point_to_plane_lls_weighted.h.

Ptr

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

using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >

Definition at line 68 of file transformation_estimation_point_to_plane_lls_weighted.h.

Constructor & Destructor Documentation

TransformationEstimationPointToPlaneLLSWeighted()

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

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

inline

Definition at line 77 of file transformation_estimation_point_to_plane_lls_weighted.h.

~TransformationEstimationPointToPlaneLLSWeighted()

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

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

inlinevirtual

Definition at line 78 of file transformation_estimation_point_to_plane_lls_weighted.h.

Member Function Documentation

constructTransformationMatrix()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::constructTransformationMatrix	(	const double &	alpha,
		const double &	beta,
		const double &	gamma,
		const double &	tx,
		const double &	ty,
		const double &	tz,
		Matrix4 &	transformation_matrix
	)		const

inlineprotected

Construct a 4 by 4 transformation matrix from the provided rotation and translation.

Parameters

[in]	alpha	the rotation about the x-axis
[in]	beta	the rotation about the y-axis
[in]	gamma	the rotation about the z-axis
[in]	tx	the x translation
[in]	ty	the y translation
[in]	tz	the z translation
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 162 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::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

inline

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[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 113 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::Indices &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[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 82 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[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 145 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inline

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[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 52 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	ConstCloudIterator< PointSource > &	source_it,
		ConstCloudIterator< PointTarget > &	target_it,
		typename std::vector< Scalar >::const_iterator &	weights_it,
		Matrix4 &	transformation_matrix
	)		const

inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters

[in]	source_it	an iterator over the source point cloud dataset
[in]	target_it	an iterator over the target point cloud dataset
	weights_it
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 195 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

References pcl::ConstCloudIterator< PointT >::isValid().

setCorrespondenceWeights()

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

void pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::setCorrespondenceWeights ( const std::vector< Scalar > & weights )

inline

Set the weights for the correspondences.

Parameters

[in] weights the weights for each correspondence

Definition at line 135 of file transformation_estimation_point_to_plane_lls_weighted.h.

References pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::weights_.