Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > Class Template Reference

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>

+ Inheritance diagram for pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >:

Public Types

using Ptr = boost::shared_ptr< TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > >
 
using ConstPtr = boost::shared_ptr< const TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar > >
 
using Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4
 
- Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
 
using Ptr = boost::shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >
 
using ConstPtr = boost::shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >
 

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 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 SVD. 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 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, Scalar >
 TransformationEstimation ()
 
virtual ~TransformationEstimation ()
 

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 >

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.

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 = boost::shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >

◆ Matrix4

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

◆ Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Ptr = boost::shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> >

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPlaneLLSWeighted()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::TransformationEstimationPointToPlaneLLSWeighted ( )
inline

◆ ~TransformationEstimationPointToPlaneLLSWeighted()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::~TransformationEstimationPointToPlaneLLSWeighted ( )
inlinevirtual

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]alphathe rotation about the x-axis
[in]betathe rotation about the y-axis
[in]gammathe rotation about the z-axis
[in]txthe x translation
[in]tythe y translation
[in]tzthe z translation
[out]transformation_matrixthe resultant transformation matrix

Definition at line 146 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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

Referenced by pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation(), and pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::setCorrespondenceWeights().

◆ 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::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
inlinevirtual

◆ 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 std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 transformation_matrix 
) const
inlinevirtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 72 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

References pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::estimateRigidTransformation(), and pcl::PointCloud< PointT >::points.

◆ 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 std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const std::vector< int > &  indices_tgt,
Matrix4 transformation_matrix 
) const
inlinevirtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interest points from indices_src
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 101 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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

◆ 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,
const pcl::Correspondences correspondences,
Matrix4 transformation_matrix 
) const
inlinevirtual

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

Parameters
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 129 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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

◆ 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_itan iterator over the source point cloud dataset
[in]target_itan iterator over the target point cloud dataset
weights_it
[out]transformation_matrixthe resultant transformation matrix

Definition at line 171 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

Member Data Documentation

◆ weights_

template<typename PointSource , typename PointTarget , typename Scalar = float>
std::vector<Scalar> pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::weights_
protected

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