TransformationEstimationPointToPlaneWeighted 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_weighted.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >:

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
using	ConstPtr
using	VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>
using	Vector4 = Eigen::Matrix<MatScalar, 4, 1>
using	Matrix4
Public Types inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >
using	Ptr
using	ConstPtr
using	PointCloudSource
using	PointCloudSourcePtr
using	PointCloudSourceConstPtr
using	PointCloudTarget
using	PointIndicesPtr
using	PointIndicesConstPtr
using	Vector4
Public Types inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
using	Ptr
using	ConstPtr
using	VectorX
using	Vector4
using	Matrix4
Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using	Matrix4
using	Ptr
using	ConstPtr

Public Member Functions
	TransformationEstimationPointToPlaneWeighted ()
	Constructor.
	TransformationEstimationPointToPlaneWeighted (const TransformationEstimationPointToPlaneWeighted &src)
	Copy constructor.
TransformationEstimationPointToPlaneWeighted &	operator= (const TransformationEstimationPointToPlaneWeighted &src)
	Copy operator.
virtual	~TransformationEstimationPointToPlaneWeighted ()=default
	Destructor.
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.
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 LM.
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 LM.
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.
void	setWeights (const std::vector< double > &weights)
void	setUseCorrespondenceWeights (bool use_correspondence_weights)
	use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods
void	setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr &warp_fcn)
	Set the function we use to warp points.
Public Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >
	TransformationEstimationPointToPlane ()=default
	~TransformationEstimationPointToPlane () override=default
Public Member Functions inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
	TransformationEstimationLM ()
	Constructor.
TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator.
	~TransformationEstimationLM () override=default
	Destructor.
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.
void	setWarpFunction (const typename WarpPointRigid< PointSource, PointTarget, float >::Ptr &warp_fcn)
	Set the function we use to warp points.
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.

Protected Attributes
bool	use_correspondence_weights_ {true}
std::vector< double >	correspondence_weights_ {}
const PointCloudSource *	tmp_src_ {nullptr}
	Temporary pointer to the source dataset.
const PointCloudTarget *	tmp_tgt_ {nullptr}
	Temporary pointer to the target dataset.
const pcl::Indices *	tmp_idx_src_ {nullptr}
	Temporary pointer to the source dataset indices.
const pcl::Indices *	tmp_idx_tgt_ {nullptr}
	Temporary pointer to the target dataset indices.
pcl::registration::WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr	warp_point_
	The parameterized function used to warp the source to the target.
Protected Attributes inherited from pcl::registration::TransformationEstimationLM< PointSource, PointTarget, float >
const PointCloudSource *	tmp_src_
	Temporary pointer to the source dataset.
const PointCloudTarget *	tmp_tgt_
	Temporary pointer to the target dataset.
const pcl::Indices *	tmp_idx_src_
	Temporary pointer to the source dataset indices.
const pcl::Indices *	tmp_idx_tgt_
	Temporary pointer to the target dataset indices.
pcl::registration::WarpPointRigid< PointSource, PointTarget, float >::Ptr	warp_point_
	The parameterized function used to warp the source to the target.

Additional Inherited Members
Protected Member Functions inherited from pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget, float >
float	computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const override
	Compute the distance between a source point and its corresponding target point.

Detailed Description

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

TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences.

In addition to the TransformationEstimationPointToPlane class, this version takes per-correspondence weights and optimizes accordingly.

Author: Alexandru-Eugen Ichim

Definition at line 59 of file transformation_estimation_point_to_plane_weighted.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::ConstPtr

Initial value:

 
      shared_ptr<const TransformationEstimationPointToPlaneWeighted<PointSource,
                                                                    PointTarget,
                                                                    MatScalar>>

Definition at line 74 of file transformation_estimation_point_to_plane_weighted.h.

◆ Matrix4

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

using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Matrix4

Initial value:

typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4

pcl::registration::TransformationEstimation::Matrix4

Eigen::Matrix< Scalar, 4, 4 > Matrix4

Definition transformation_estimation.h:64

Definition at line 81 of file transformation_estimation_point_to_plane_weighted.h.

◆ Ptr

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

using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Ptr

Initial value:

 shared_ptr<TransformationEstimationPointToPlaneWeighted<PointSource,
                                                                      PointTarget,
                                                                      MatScalar>>

Definition at line 71 of file transformation_estimation_point_to_plane_weighted.h.

◆ Vector4

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

using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::Vector4 = Eigen::Matrix<MatScalar, 4, 1>

Definition at line 80 of file transformation_estimation_point_to_plane_weighted.h.

◆ VectorX

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

using pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>

Definition at line 79 of file transformation_estimation_point_to_plane_weighted.h.

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPlaneWeighted() [1/2]

template<typename PointSource, typename PointTarget, typename MatScalar>

pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::TransformationEstimationPointToPlaneWeighted ( )

Constructor.

Definition at line 53 of file transformation_estimation_point_to_plane_weighted.hpp.

References tmp_src_, tmp_tgt_, TransformationEstimationPointToPlaneWeighted(), and warp_point_.

Referenced by operator=(), pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::OptimizationFunctor::OptimizationFunctor(), pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices(), TransformationEstimationPointToPlaneWeighted(), TransformationEstimationPointToPlaneWeighted(), pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::OptimizationFunctor::~OptimizationFunctor(), and pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::OptimizationFunctorWithIndices::~OptimizationFunctorWithIndices().

◆ TransformationEstimationPointToPlaneWeighted() [2/2]

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

pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::TransformationEstimationPointToPlaneWeighted ( const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > & src )

inline

Copy constructor.

Parameters

[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this

Definition at line 91 of file transformation_estimation_point_to_plane_weighted.h.

References correspondence_weights_, tmp_idx_src_, tmp_idx_tgt_, tmp_src_, tmp_tgt_, TransformationEstimationPointToPlaneWeighted(), use_correspondence_weights_, and warp_point_.

◆ ~TransformationEstimationPointToPlaneWeighted()

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

virtual pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::~TransformationEstimationPointToPlaneWeighted ( )

virtualdefault

Destructor.

Member Function Documentation

◆ estimateRigidTransformation() [1/4]

template<typename PointSource, typename PointTarget, typename MatScalar>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< 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

inline

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

Note: Uses the weights given by setWeights.

Definition at line 175 of file transformation_estimation_point_to_plane_weighted.hpp.

References correspondence_weights_, tmp_idx_src_, tmp_idx_tgt_, tmp_src_, tmp_tgt_, and warp_point_.

◆ estimateRigidTransformation() [2/4]

template<typename PointSource, typename PointTarget, typename MatScalar>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< 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

inline

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

Note: Uses the weights given by setWeights.

Definition at line 134 of file transformation_estimation_point_to_plane_weighted.hpp.

References correspondence_weights_, estimateRigidTransformation(), and pcl::PointCloud< PointT >::size().

◆ estimateRigidTransformation() [3/4]

template<typename PointSource, typename PointTarget, typename MatScalar>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::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 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

Note: Uses the weights given by setWeights.

Definition at line 250 of file transformation_estimation_point_to_plane_weighted.hpp.

References correspondence_weights_, estimateRigidTransformation(), and use_correspondence_weights_.

◆ estimateRigidTransformation() [4/4]

template<typename PointSource, typename PointTarget, typename MatScalar>

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::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 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

Note: Uses the weights given by setWeights.

Definition at line 63 of file transformation_estimation_point_to_plane_weighted.hpp.

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

Referenced by estimateRigidTransformation(), and estimateRigidTransformation().

◆ operator=()

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

TransformationEstimationPointToPlaneWeighted & pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::operator= ( const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > & src )

inline

Copy operator.

Parameters

[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this

Definition at line 106 of file transformation_estimation_point_to_plane_weighted.h.

References correspondence_weights_, tmp_idx_src_, tmp_idx_tgt_, tmp_src_, tmp_tgt_, TransformationEstimationPointToPlaneWeighted(), use_correspondence_weights_, and warp_point_.

◆ setUseCorrespondenceWeights()

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

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setUseCorrespondenceWeights ( bool use_correspondence_weights )

inline

use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods

Definition at line 185 of file transformation_estimation_point_to_plane_weighted.h.

References use_correspondence_weights_.

◆ setWarpFunction()

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

void pcl::registration::TransformationEstimationPointToPlaneWeighted< 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 194 of file transformation_estimation_point_to_plane_weighted.h.

References warp_point_.

◆ setWeights()

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

void pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::setWeights ( const std::vector< double > & weights )

inline

Definition at line 177 of file transformation_estimation_point_to_plane_weighted.h.

References correspondence_weights_.

Member Data Documentation

◆ correspondence_weights_

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

std::vector<double> pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::correspondence_weights_ {}

mutableprotected

Definition at line 202 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), estimateRigidTransformation(), estimateRigidTransformation(), operator=(), setWeights(), and TransformationEstimationPointToPlaneWeighted().

◆ tmp_idx_src_

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

const pcl::Indices* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_src_ {nullptr}

mutableprotected

Temporary pointer to the source dataset indices.

Definition at line 211 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), and TransformationEstimationPointToPlaneWeighted().

◆ tmp_idx_tgt_

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

const pcl::Indices* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_idx_tgt_ {nullptr}

mutableprotected

Temporary pointer to the target dataset indices.

Definition at line 214 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), and TransformationEstimationPointToPlaneWeighted().

◆ tmp_src_

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

const PointCloudSource* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_src_ {nullptr}

mutableprotected

Temporary pointer to the source dataset.

Definition at line 205 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), TransformationEstimationPointToPlaneWeighted(), and TransformationEstimationPointToPlaneWeighted().

◆ tmp_tgt_

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

const PointCloudTarget* pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::tmp_tgt_ {nullptr}

mutableprotected

Temporary pointer to the target dataset.

Definition at line 208 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), TransformationEstimationPointToPlaneWeighted(), and TransformationEstimationPointToPlaneWeighted().

◆ use_correspondence_weights_

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

bool pcl::registration::TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar >::use_correspondence_weights_ {true}

protected

Definition at line 201 of file transformation_estimation_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), setUseCorrespondenceWeights(), and TransformationEstimationPointToPlaneWeighted().

◆ warp_point_

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

pcl::registration::WarpPointRigid<PointSource,PointTarget,MatScalar>::Ptr pcl::registration::TransformationEstimationPointToPlaneWeighted< 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_point_to_plane_weighted.h.

Referenced by estimateRigidTransformation(), operator=(), setWarpFunction(), TransformationEstimationPointToPlaneWeighted(), and TransformationEstimationPointToPlaneWeighted().

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

pcl/registration/transformation_estimation_point_to_plane_weighted.h
pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Matrix4

◆ Ptr

◆ Vector4

◆ VectorX

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPlaneWeighted() [1/2]

◆ TransformationEstimationPointToPlaneWeighted() [2/2]

◆ ~TransformationEstimationPointToPlaneWeighted()

Member Function Documentation

◆ estimateRigidTransformation() [1/4]

◆ estimateRigidTransformation() [2/4]

◆ estimateRigidTransformation() [3/4]

◆ estimateRigidTransformation() [4/4]

◆ operator=()

◆ setUseCorrespondenceWeights()

◆ setWarpFunction()

◆ setWeights()

Member Data Documentation

◆ correspondence_weights_

◆ tmp_idx_src_

◆ tmp_idx_tgt_

◆ tmp_src_

◆ tmp_tgt_

◆ use_correspondence_weights_

◆ warp_point_