Point Cloud Library (PCL) 1.12.0
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TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals. More...
#include <pcl/registration/transformation_estimation_point_to_plane_lls.h>
Public Types | |
using | Ptr |
using | ConstPtr |
using | Matrix4 |
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using | Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
using | Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>> |
using | ConstPtr |
Public Member Functions | |
TransformationEstimationPointToPlaneLLS () | |
~TransformationEstimationPointToPlaneLLS () | |
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 SVD. | |
void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_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 SVD. | |
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 override |
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 override |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. | |
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TransformationEstimation () | |
virtual | ~TransformationEstimation () |
Protected Member Functions | |
void | estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target. | |
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. | |
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals.
For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004
Definition at line 63 of file transformation_estimation_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >::ConstPtr |
Definition at line 68 of file transformation_estimation_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >::Matrix4 |
Definition at line 71 of file transformation_estimation_point_to_plane_lls.h.
using pcl::registration::TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar >::Ptr |
Definition at line 66 of file transformation_estimation_point_to_plane_lls.h.
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inline |
Definition at line 74 of file transformation_estimation_point_to_plane_lls.h.
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inline |
Definition at line 75 of file transformation_estimation_point_to_plane_lls.h.
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inlineprotected |
Construct a 4 by 4 transformation matrix from the provided rotation and translation.
[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_matrix | the resultant transformation matrix |
Definition at line 134 of file transformation_estimation_point_to_plane_lls.hpp.
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inlineoverridevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 97 of file transformation_estimation_point_to_plane_lls.hpp.
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inlineoverridevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 74 of file transformation_estimation_point_to_plane_lls.hpp.
References pcl::PointCloud< PointT >::size().
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inlineoverridevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 121 of file transformation_estimation_point_to_plane_lls.hpp.
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inlineoverridevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
[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 52 of file transformation_estimation_point_to_plane_lls.hpp.
References pcl::PointCloud< PointT >::size().
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inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
[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 167 of file transformation_estimation_point_to_plane_lls.hpp.
References pcl::ConstCloudIterator< PointT >::isValid().