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 <transformation_estimation_point_to_plane_lls_weighted.h>

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

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List of all members.

Public Types
typedef boost::shared_ptr < const TransformationEstimationPointToPlaneLLSWeighted < PointSource, PointTarget, Scalar > >	ConstPtr
typedef TransformationEstimation < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef boost::shared_ptr < TransformationEstimationPointToPlaneLLSWeighted < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
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.
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.
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.
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.
void	setCorrespondenceWeights (const std::vector< Scalar > &weights)
	Set the weights for the correspondences.
	TransformationEstimationPointToPlaneLLSWeighted ()
virtual	~TransformationEstimationPointToPlaneLLSWeighted ()
Protected Member Functions
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 tranformation matrix from the provided rotation and translation.
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.
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

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

typedef boost::shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 67 of file transformation_estimation_point_to_plane_lls_weighted.h.

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

typedef TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 69 of file transformation_estimation_point_to_plane_lls_weighted.h.

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

typedef boost::shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationPointToPlaneLLSWeighted< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 66 of file transformation_estimation_point_to_plane_lls_weighted.h.

Constructor & Destructor Documentation

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

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

Definition at line 71 of file transformation_estimation_point_to_plane_lls_weighted.h.

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

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

Definition at line 72 of file transformation_estimation_point_to_plane_lls_weighted.h.

Member Function Documentation

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 `[inline, protected]`

Construct a 4 by 4 tranformation 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	the resultant transformation matrix

Definition at line 146 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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, virtual]`

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

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

Definition at line 46 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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 `[inline, virtual]`

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

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

Definition at line 72 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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 `[inline, virtual]`

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 interst points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

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

Definition at line 101 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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, virtual]`

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

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

Definition at line 129 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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 `[inline, protected]`

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
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 171 of file transformation_estimation_point_to_plane_lls_weighted.hpp.

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

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