Point Cloud Library (PCL)
1.7.1
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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 | |
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 |
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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 |
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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 () |
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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... | |
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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 | |
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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... | |
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.
Definition at line 58 of file transformation_estimation_point_to_plane.h.
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.
typedef pcl::PointCloud<PointSource> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSource |
Definition at line 64 of file transformation_estimation_point_to_plane.h.
typedef PointCloudSource::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourceConstPtr |
Definition at line 66 of file transformation_estimation_point_to_plane.h.
typedef PointCloudSource::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudSourcePtr |
Definition at line 65 of file transformation_estimation_point_to_plane.h.
typedef pcl::PointCloud<PointTarget> pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointCloudTarget |
Definition at line 67 of file transformation_estimation_point_to_plane.h.
typedef PointIndices::ConstPtr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesConstPtr |
Definition at line 69 of file transformation_estimation_point_to_plane.h.
typedef PointIndices::Ptr pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar >::PointIndicesPtr |
Definition at line 68 of file transformation_estimation_point_to_plane.h.
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.
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.
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inline |
Definition at line 73 of file transformation_estimation_point_to_plane.h.
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inlinevirtual |
Definition at line 74 of file transformation_estimation_point_to_plane.h.
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inlineprotectedvirtual |
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, Scalar >.
Definition at line 78 of file transformation_estimation_point_to_plane.h.
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inlineprotectedvirtual |
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, Scalar >.
Definition at line 88 of file transformation_estimation_point_to_plane.h.