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TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_lm.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...
struct OptimizationFunctor
struct OptimizationFunctorWithIndices

Public Types
using Ptr = shared_ptr< TransformationEstimationLM< PointSource, PointTarget, MatScalar > >
using ConstPtr = shared_ptr< const TransformationEstimationLM< 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::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
TransformationEstimationLM ()
Constructor. More...
TransformationEstimationLM (const TransformationEstimationLM &src)
Copy constructor. More...
TransformationEstimationLM & operator= (const TransformationEstimationLM &src)
Copy operator. More...
~TransformationEstimationLM () override=default
Destructor. More...
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...
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...
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...
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...
void setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr &warp_fcn)
Set the function we use to warp points. More...
- Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
TransformationEstimation ()=default
virtual ~TransformationEstimation ()=default
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
virtual MatScalar computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
Compute the distance between a source point and its corresponding target point. More...
virtual MatScalar computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
Compute the distance between a source point and its corresponding target point. More...

Protected Attributes
const PointCloudSource * tmp_src_
Temporary pointer to the source dataset. More...
const PointCloudTarget * tmp_tgt_
Temporary pointer to the target dataset. More...
const pcl::Indices * tmp_idx_src_
Temporary pointer to the source dataset indices. More...
const pcl::Indices * tmp_idx_tgt_
Temporary pointer to the target dataset indices. More...
pcl::registration::WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr warp_point_
The parameterized function used to warp the source to the target. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename MatScalar = float>
class pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.

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
Radu B. Rusu

Definition at line 58 of file transformation_estimation_lm.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename MatScalar = float>
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::ConstPtr = shared_ptr<const TransformationEstimationLM<PointSource, PointTarget, MatScalar> >

Definition at line 72 of file transformation_estimation_lm.h.

Matrix4

template<typename PointSource , typename PointTarget , typename MatScalar = float>
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4

Definition at line 77 of file transformation_estimation_lm.h.

Ptr

template<typename PointSource , typename PointTarget , typename MatScalar = float>
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Ptr = shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> >

Definition at line 70 of file transformation_estimation_lm.h.

Vector4

template<typename PointSource , typename PointTarget , typename MatScalar = float>
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::Vector4 = Eigen::Matrix<MatScalar, 4, 1>

Definition at line 76 of file transformation_estimation_lm.h.

VectorX

template<typename PointSource , typename PointTarget , typename MatScalar = float>
using pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>

Definition at line 75 of file transformation_estimation_lm.h.

Constructor & Destructor Documentation

TransformationEstimationLM() [1/2]

template<typename PointSource , typename PointTarget , typename MatScalar >
pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::TransformationEstimationLM

Constructor.

Definition at line 49 of file transformation_estimation_lm.hpp.

TransformationEstimationLM() [2/2]

template<typename PointSource , typename PointTarget , typename MatScalar = float>
pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::TransformationEstimationLM ( const TransformationEstimationLM< PointSource, PointTarget, MatScalar > & src )
inline

Copy constructor.

Parameters
[in] src the TransformationEstimationLM object to copy into this

Definition at line 86 of file transformation_estimation_lm.h.

~TransformationEstimationLM()

template<typename PointSource , typename PointTarget , typename MatScalar = float>
pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::~TransformationEstimationLM ( )
overridedefault

Destructor.

Member Function Documentation

computeDistance() [1/2]

template<typename PointSource , typename PointTarget , typename MatScalar = float>
virtual MatScalar pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::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 in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >, pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >.

Definition at line 182 of file transformation_estimation_lm.h.

computeDistance() [2/2]

template<typename PointSource , typename PointTarget , typename MatScalar = float>
virtual MatScalar pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::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 in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >, and pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, MatScalar >.

Definition at line 198 of file transformation_estimation_lm.h.

estimateRigidTransformation() [1/4]

template<typename PointSource , typename PointTarget , typename MatScalar >
void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::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
inlineoverride

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

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 154 of file transformation_estimation_lm.hpp.

estimateRigidTransformation() [2/4]

template<typename PointSource , typename PointTarget , typename MatScalar >
void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inlineoverride

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

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 123 of file transformation_estimation_lm.hpp.

estimateRigidTransformation() [3/4]

template<typename PointSource , typename PointTarget , typename MatScalar >
void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Correspondences & correspondences,
Matrix4 & transformation_matrix
) const
inlineoverride

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

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 221 of file transformation_estimation_lm.hpp.

estimateRigidTransformation() [4/4]

template<typename PointSource , typename PointTarget , typename MatScalar >
void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inlineoverride

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

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 60 of file transformation_estimation_lm.hpp.

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

operator=()

template<typename PointSource , typename PointTarget , typename MatScalar = float>
TransformationEstimationLM& pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator= ( const TransformationEstimationLM< PointSource, PointTarget, MatScalar > & src )
inline

Copy operator.

Parameters
[in] src the TransformationEstimationLM object to copy into this

Definition at line 97 of file transformation_estimation_lm.h.

References pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_idx_src_, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_src_, pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_tgt_, and pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::warp_point_.

setWarpFunction()

template<typename PointSource , typename PointTarget , typename MatScalar = float>
void pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::setWarpFunction ( const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr & warp_fcn )
inline

Set the function we use to warp points.

Defaults to rigid 6D warp.

Parameters
[in] warp_fcn a shared pointer to an object that warps points

Definition at line 165 of file transformation_estimation_lm.h.

References pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::warp_point_.

Member Data Documentation

tmp_idx_src_

template<typename PointSource , typename PointTarget , typename MatScalar = float>
const pcl::Indices* pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_idx_src_
mutableprotected

Temporary pointer to the source dataset indices.

Definition at line 211 of file transformation_estimation_lm.h.

Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().

tmp_idx_tgt_

template<typename PointSource , typename PointTarget , typename MatScalar = float>
const pcl::Indices* pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_
mutableprotected

Temporary pointer to the target dataset indices.

Definition at line 214 of file transformation_estimation_lm.h.

Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().

tmp_src_

template<typename PointSource , typename PointTarget , typename MatScalar = float>
const PointCloudSource* pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_src_
mutableprotected

Temporary pointer to the source dataset.

Definition at line 205 of file transformation_estimation_lm.h.

Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().

tmp_tgt_

template<typename PointSource , typename PointTarget , typename MatScalar = float>
const PointCloudTarget* pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::tmp_tgt_
mutableprotected

Temporary pointer to the target dataset.

Definition at line 208 of file transformation_estimation_lm.h.

Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=().

warp_point_

template<typename PointSource , typename PointTarget , typename MatScalar = float>
pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar>::Ptr pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::warp_point_
protected

The parameterized function used to warp the source to the target.

Definition at line 218 of file transformation_estimation_lm.h.

Referenced by pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::operator=(), and pcl::registration::TransformationEstimationLM< PointSource, PointTarget, MatScalar >::setWarpFunction().

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

© 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_l_m.html