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TransformationEstimationWDF< PointSource, PointTarget > Class Template Reference

#include <transformation_estimation_wdf.h>

Inheritance diagram for TransformationEstimationWDF< PointSource, PointTarget >:
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List of all members.

Classes

struct  Functor
struct  OptimizationFunctor
struct  OptimizationFunctorWithWeights

Public Member Functions

void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const std::vector< int > &indices_src_dfp, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, const std::vector< int > &indices_tgt_dfp, float alpha_arg, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using WDF.
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, const pcl::Correspondences &correspondences_dfp, float alpha_arg, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using WDF.
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, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using WDF. This method has to be used in conjunction with methods setCorrespondecesDFP and setAlpha. In this manner it can be combined with pcl::IterativeClosestPoint via setTransformationEstimation method.
float getAlpha (void)
float getBeta (void)
void setAlpha (float alpha_arg)
void setBeta (float alpha_arg)
void setCorrespondecesDFP (pcl::Correspondences correspondences_dfp)
 Set correspondences between source and target cloud distinctive feature points. This has to be set when using this class with pcl::IterativeClosestPoint.
void setCorrespondecesDFP (std::vector< int > &indices_src_dfp_arg, std::vector< int > &indices_tgt_dfp_arg)
 Set correspondences between source and target cloud distinctive feature points. This has to be set when using this class with pcl::IterativeClosestPoint.
void setWarpFunction (const boost::shared_ptr< pcl::WarpPointRigid< PointSource, PointTarget > > &warp_fcn)
 Set the function we use to warp points. Defaults to rigid 6D warp.
void setWeightsDFP (std::vector< float > weights_dfp_arg)
 TransformationEstimationWDF ()
virtual ~TransformationEstimationWDF ()

Protected Member Functions

virtual double computeDistance (const PointSource &p_src, const PointTarget &p_tgt)
 Compute the distance between a source point and its corresponding target point.
virtual double computeDistancePointToPlane (const PointSource &p_src, const PointTarget &p_tgt)
virtual double computeDistanceWeight (const double &depth)

Protected Attributes

const std::vector< float > * tmp_dfp_weights_
 Temporary pointer to weights of distinctive feature point pairs.
const std::vector< int > * tmp_idx_src_
 Temporary pointer to the source dataset indices.
const std::vector< int > * tmp_idx_src_dfp_
 Temporary pointer to the source dataset distinctive feature point indices.
const std::vector< int > * tmp_idx_tgt_
 Temporary pointer to the target dataset indices.
const std::vector< int > * tmp_idx_tgt_dfp_
 Temporary pointer to the target dataset distinctive feature point indices.
const PointCloudSource * tmp_src_
 Temporary pointer to the source dataset.
const PointCloudTarget * tmp_tgt_
 Temporary pointer to the target dataset.
const std::vector< float > * tmp_weights_
 Temporary pointer to weights of common point pairs.
boost::shared_ptr
< pcl::WarpPointRigid
< PointSource, PointTarget > > 		warp_point_
 The parameterized function used to warp the source to the target.
std::vector< double > weights_
 The vector of residual weights. Used internally in the LM loop.

Private Types

typedef pcl::PointCloud
< PointSource > 		PointCloudSource
typedef PointCloudSource::ConstPtr PointCloudSourceConstPtr
typedef PointCloudSource::Ptr PointCloudSourcePtr
typedef pcl::PointCloud
< PointTarget > 		PointCloudTarget
typedef pcl::PointIndices::ConstPtr PointIndicesConstPtr
typedef pcl::PointIndices::Ptr PointIndicesPtr

Private Member Functions

void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
 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, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
 Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Private Attributes

float alpha_
float beta_
std::vector< int > indices_src_dfp_
 the vector of indices describing distinctive feature points in source cloud
bool indices_src_dfp_set_
 flag indicating if indices_src_dfp_ is set
std::vector< int > indices_tgt_dfp_
 the vector of indices describing distinctive feature points in target cloud
bool indices_tgt_dfp_set_
 flag indicating if indices_tgt_dfp_ is set
std::vector< float > weights_dfp_
 the vector containing weights of distinctive feature points correspondences
bool weights_dfp_set_
 flag indicating if vector containing weights of distinctive feature points correspondences is set

Friends

class pcl::IterativeClosestPoint< PointSource, PointTarget >

Detailed Description

template<typename PointSource, typename PointTarget>
class TransformationEstimationWDF< PointSource, PointTarget >

Definition at line 23 of file transformation_estimation_wdf.h.

Member Typedef Documentation

template<typename PointSource, typename PointTarget>
typedef pcl::PointCloud<PointSource> TransformationEstimationWDF< PointSource, PointTarget >::PointCloudSource [private]

Definition at line 24 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudSource::ConstPtr TransformationEstimationWDF< PointSource, PointTarget >::PointCloudSourceConstPtr [private]

Definition at line 26 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
typedef PointCloudSource::Ptr TransformationEstimationWDF< PointSource, PointTarget >::PointCloudSourcePtr [private]

Definition at line 25 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
typedef pcl::PointCloud<PointTarget> TransformationEstimationWDF< PointSource, PointTarget >::PointCloudTarget [private]

Definition at line 28 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
typedef pcl::PointIndices::ConstPtr TransformationEstimationWDF< PointSource, PointTarget >::PointIndicesConstPtr [private]

Definition at line 31 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
typedef pcl::PointIndices::Ptr TransformationEstimationWDF< PointSource, PointTarget >::PointIndicesPtr [private]

Definition at line 30 of file transformation_estimation_wdf.h.

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>
TransformationEstimationWDF< PointSource, PointTarget >::TransformationEstimationWDF ( ) [inline]

Definition at line 80 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
virtual TransformationEstimationWDF< PointSource, PointTarget >::~TransformationEstimationWDF ( ) [inline, virtual]

Definition at line 88 of file transformation_estimation_wdf.h.

Member Function Documentation

template<typename PointSource, typename PointTarget>
virtual double TransformationEstimationWDF< PointSource, PointTarget >::computeDistance ( const PointSource &  p_src,
const PointTarget &  p_tgt 
) [inline, protected, virtual]

Compute the distance between a source point and its corresponding target point.

Parameters:
p_srcThe source point
p_tgtThe 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)

Definition at line 208 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
virtual double TransformationEstimationWDF< PointSource, PointTarget >::computeDistancePointToPlane ( const PointSource &  p_src,
const PointTarget &  p_tgt 
) [inline, protected, virtual]

Definition at line 216 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
virtual double TransformationEstimationWDF< PointSource, PointTarget >::computeDistanceWeight ( const double &  depth) [inline, protected, virtual]

Definition at line 226 of file transformation_estimation_wdf.h.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Eigen::Matrix4f &  transformation_matrix 
) [inline, private, virtual]

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

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 87 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences &  correspondences,
Eigen::Matrix4f &  transformation_matrix 
) [inline, private, virtual]

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

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 >.

Definition at line 95 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Eigen::Matrix4f &  transformation_matrix 
) [inline, private, virtual]

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

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 >.

Definition at line 104 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const std::vector< int > &  indices_src,
const std::vector< int > &  indices_src_dfp,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const std::vector< int > &  indices_tgt,
const std::vector< int > &  indices_tgt_dfp,
float  alpha_arg,
Eigen::Matrix4f &  transformation_matrix 
) [inline]

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

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]indices_src_dfpthe vector of indices describing distinctive feature points 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
[in]indices_tgt_dfpthe vector of indices describing correspondences of distinctive feature points from indices_src_dfp in cloud_tgt
[in]alphaweight given to distinct features term in optimization equation (range [0,1])
[out]transformation_matrixthe resultant transformation matrix

Definition at line 114 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences &  correspondences,
const pcl::Correspondences &  correspondences_dfp,
float  alpha_arg,
Eigen::Matrix4f &  transformation_matrix 
) [inline]

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

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
[in]correspondences_dfpthe vector of distinctive feature point correspondences between source and target point cloud
[in]alphaweight given to distinct features term in optimization equation (range [0,1])
[out]transformation_matrixthe resultant transformation matrix

Definition at line 305 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::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,
Eigen::Matrix4f &  transformation_matrix 
) [inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using WDF. This method has to be used in conjunction with methods setCorrespondecesDFP and setAlpha. In this manner it can be combined with pcl::IterativeClosestPoint via setTransformationEstimation method.

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 interst points from indices_src
[out]transformation_matrixthe resultant transformation matrix

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

Definition at line 192 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
float TransformationEstimationWDF< PointSource, PointTarget >::getAlpha ( void  ) [inline]

Definition at line 36 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
float TransformationEstimationWDF< PointSource, PointTarget >::getBeta ( void  ) [inline]

Definition at line 46 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::setAlpha ( float  alpha_arg) [inline]

Definition at line 28 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::setBeta ( float  alpha_arg) [inline]

Definition at line 41 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::setCorrespondecesDFP ( pcl::Correspondences  correspondences_dfp) [inline]

Set correspondences between source and target cloud distinctive feature points. This has to be set when using this class with pcl::IterativeClosestPoint.

Parameters:
[in]correspondences_dfpthe vector of distinctive feature point correspondences between source and target point cloud. Source cloud point is stored in pcl::Correspondence::index_query, and corresponding target cloud point in pcl::Correspondence::index_match.

Definition at line 52 of file transformation_estimation_wdf.hpp.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::setCorrespondecesDFP ( std::vector< int > &  indices_src_dfp_arg,
std::vector< int > &  indices_tgt_dfp_arg 
) [inline]

Set correspondences between source and target cloud distinctive feature points. This has to be set when using this class with pcl::IterativeClosestPoint.

Parameters:
[in]indices_src_dfp_argthe vector of indices describing the distinctive feature points in cloud source
[in]indices_tgt_dfp_argthe vector of indices describing the correspondences of distinctive feature points indices_src_dfp_arg in cloud target

Definition at line 68 of file transformation_estimation_wdf.hpp.

template<typename PointSource, typename PointTarget>
void TransformationEstimationWDF< PointSource, PointTarget >::setWarpFunction ( const boost::shared_ptr< pcl::WarpPointRigid< PointSource, PointTarget > > &  warp_fcn) [inline]

Set the function we use to warp points. Defaults to rigid 6D warp.

Parameters:
[in]sharedpointer to object that warps points

Definition at line 190 of file transformation_estimation_wdf.h.

template<typename PointSource , typename PointTarget >
void TransformationEstimationWDF< PointSource, PointTarget >::setWeightsDFP ( std::vector< float >  weights_dfp_arg) [inline]

Definition at line 80 of file transformation_estimation_wdf.hpp.

Friends And Related Function Documentation

template<typename PointSource, typename PointTarget>
friend class pcl::IterativeClosestPoint< PointSource, PointTarget > [friend]

Definition at line 197 of file transformation_estimation_wdf.h.

Member Data Documentation

template<typename PointSource, typename PointTarget>
float TransformationEstimationWDF< PointSource, PointTarget >::alpha_ [private]

Definition at line 33 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
float TransformationEstimationWDF< PointSource, PointTarget >::beta_ [private]

Definition at line 34 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
std::vector<int> TransformationEstimationWDF< PointSource, PointTarget >::indices_src_dfp_ [private]

the vector of indices describing distinctive feature points in source cloud

Definition at line 35 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
bool TransformationEstimationWDF< PointSource, PointTarget >::indices_src_dfp_set_ [private]

flag indicating if indices_src_dfp_ is set

Definition at line 37 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
std::vector<int> TransformationEstimationWDF< PointSource, PointTarget >::indices_tgt_dfp_ [private]

the vector of indices describing distinctive feature points in target cloud

Definition at line 36 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
bool TransformationEstimationWDF< PointSource, PointTarget >::indices_tgt_dfp_set_ [private]

flag indicating if indices_tgt_dfp_ is set

Definition at line 38 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<float>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_dfp_weights_ [protected]

Temporary pointer to weights of distinctive feature point pairs.

Definition at line 259 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<int>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_idx_src_ [protected]

Temporary pointer to the source dataset indices.

Definition at line 244 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<int>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_idx_src_dfp_ [protected]

Temporary pointer to the source dataset distinctive feature point indices.

Definition at line 250 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<int>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_idx_tgt_ [protected]

Temporary pointer to the target dataset indices.

Definition at line 247 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<int>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_idx_tgt_dfp_ [protected]

Temporary pointer to the target dataset distinctive feature point indices.

Definition at line 253 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const PointCloudSource* TransformationEstimationWDF< PointSource, PointTarget >::tmp_src_ [protected]

Temporary pointer to the source dataset.

Definition at line 238 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const PointCloudTarget* TransformationEstimationWDF< PointSource, PointTarget >::tmp_tgt_ [protected]

Temporary pointer to the target dataset.

Definition at line 241 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
const std::vector<float>* TransformationEstimationWDF< PointSource, PointTarget >::tmp_weights_ [protected]

Temporary pointer to weights of common point pairs.

Definition at line 256 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
boost::shared_ptr<pcl::WarpPointRigid<PointSource, PointTarget> > TransformationEstimationWDF< PointSource, PointTarget >::warp_point_ [protected]

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

Definition at line 262 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
std::vector<double> TransformationEstimationWDF< PointSource, PointTarget >::weights_ [protected]

The vector of residual weights. Used internally in the LM loop.

Definition at line 235 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
std::vector<float> TransformationEstimationWDF< PointSource, PointTarget >::weights_dfp_ [private]

the vector containing weights of distinctive feature points correspondences

Definition at line 39 of file transformation_estimation_wdf.h.

template<typename PointSource, typename PointTarget>
bool TransformationEstimationWDF< PointSource, PointTarget >::weights_dfp_set_ [private]

flag indicating if vector containing weights of distinctive feature points correspondences is set

Definition at line 40 of file transformation_estimation_wdf.h.

The documentation for this class was generated from the following files:
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rgbd_registration
Author(s): Ross Kidson
autogenerated on Sun Oct 6 2013 12:00:42