Template Class LsqRegistration

Defined in File lsq_registration.hpp

Inheritance Relationships

Base Type

public pcl::Registration< PointSource, PointTarget, float >

Derived Types

public fast_gicp::FastGICP< PointSource, PointTarget, SearchMethodSource, SearchMethodTarget > (Template Class FastGICP)
public fast_gicp::FastVGICPCuda< PointSource, PointTarget > (Template Class FastVGICPCuda)
public fast_gicp::NDTCuda< PointSource, PointTarget > (Template Class NDTCuda)

Class Documentation

template<typename PointSource, typename PointTarget> class LsqRegistration : public pcl::Registration<PointSource, PointTarget, float>

Subclassed by fast_gicp::FastGICP< PointSource, PointTarget, SearchMethodSource, SearchMethodTarget >, fast_gicp::FastVGICPCuda< PointSource, PointTarget >, fast_gicp::NDTCuda< PointSource, PointTarget >

Public Types

using Scalar = float

using Matrix4 = typename pcl::Registration<PointSource, PointTarget, Scalar>::Matrix4

using PointCloudSource = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudSource

using PointCloudSourcePtr = typename PointCloudSource::Ptr

using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using PointCloudTarget = typename pcl::Registration<PointSource, PointTarget, Scalar>::PointCloudTarget

using PointCloudTargetPtr = typename PointCloudTarget::Ptr

using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using Ptr = pcl::shared_ptr<LsqRegistration<PointSource, PointTarget>>

using ConstPtr = pcl::shared_ptr<const LsqRegistration<PointSource, PointTarget>>

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW LsqRegistration()

virtual ~LsqRegistration()

void setRotationEpsilon(double eps)

void setInitialLambdaFactor(double init_lambda_factor)

void setDebugPrint(bool lm_debug_print)

const Eigen::Matrix<double, 6, 6> &getFinalHessian() const

double evaluateCost(const Eigen::Matrix4f &relative_pose, Eigen::Matrix<double, 6, 6> *H = nullptr, Eigen::Matrix<double, 6, 1> *b = nullptr)

inline virtual void swapSourceAndTarget()

inline virtual void clearSource()

inline virtual void clearTarget()

Protected Functions

virtual void computeTransformation(PointCloudSource &output, const Matrix4 &guess) override

bool is_converged(const Eigen::Isometry3d &delta) const

virtual double linearize(const Eigen::Isometry3d &trans, Eigen::Matrix<double, 6, 6> *H = nullptr, Eigen::Matrix<double, 6, 1> *b = nullptr) = 0

virtual double compute_error(const Eigen::Isometry3d &trans) = 0

bool step_optimize(Eigen::Isometry3d &x0, Eigen::Isometry3d &delta)

bool step_gn(Eigen::Isometry3d &x0, Eigen::Isometry3d &delta)

bool step_lm(Eigen::Isometry3d &x0, Eigen::Isometry3d &delta)

Protected Attributes

double rotation_epsilon_

LSQ_OPTIMIZER_TYPE lsq_optimizer_type_

int lm_max_iterations_

double lm_init_lambda_factor_

double lm_lambda_

bool lm_debug_print_

Eigen::Matrix<double, 6, 6> final_hessian_