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transformation_estimation_point_to_plane.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
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#pragma once
#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/transformation_estimation_lm.h>
#include <pcl/registration/warp_point_rigid.h>
namespace pcl {
namespace registration {
/** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to
* find the transformation that minimizes the point-to-plane distance between the given
* correspondences.
*
* \author Michael Dixon
* \ingroup registration
*/
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationPointToPlane
: public TransformationEstimationLM<PointSource, PointTarget, Scalar> {
public:
using Ptr = shared_ptr<
TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>;
using ConstPtr = shared_ptr<
const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar>>;
using PointCloudSource = pcl::PointCloud<PointSource>;
using PointCloudSourcePtr = typename PointCloudSource::Ptr;
using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;
using PointCloudTarget = pcl::PointCloud<PointTarget>;
using PointIndicesPtr = PointIndices::Ptr;
using PointIndicesConstPtr = PointIndices::ConstPtr;
using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
TransformationEstimationPointToPlane() = default;
~TransformationEstimationPointToPlane() override = default;
protected:
Scalar
computeDistance(const PointSource& p_src, const PointTarget& p_tgt) const override
{
// Compute the point-to-plane distance
Vector4 s(p_src.x, p_src.y, p_src.z, 0);
Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
return ((s - t).dot(n));
}
Scalar
computeDistance(const Vector4& p_src, const PointTarget& p_tgt) const override
{
// Compute the point-to-plane distance
Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
return ((p_src - t).dot(n));
}
};
} // namespace registration
} // namespace pcl
pcl::PointCloud< PointSource >
pcl::PointCloud< PointSource >::Ptr
shared_ptr< PointCloud< PointSource > > Ptr
Definition point_cloud.h:413
pcl::PointCloud< PointSource >::ConstPtr
shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition point_cloud.h:414
pcl::registration::TransformationEstimationLM
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation alig...
Definition transformation_estimation_lm.h:59
pcl::registration::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Definition transformation_estimation_point_to_plane.h:58
pcl::registration::TransformationEstimationPointToPlane::~TransformationEstimationPointToPlane
~TransformationEstimationPointToPlane() override=default
pcl::registration::TransformationEstimationPointToPlane::computeDistance
Scalar computeDistance(const PointSource &p_src, const PointTarget &p_tgt) const override
Compute the distance between a source point and its corresponding target point.
Definition transformation_estimation_point_to_plane.h:79
pcl::registration::TransformationEstimationPointToPlane::Ptr
shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > Ptr
Definition transformation_estimation_point_to_plane.h:61
pcl::registration::TransformationEstimationPointToPlane::PointCloudSourceConstPtr
typename PointCloudSource::ConstPtr PointCloudSourceConstPtr
Definition transformation_estimation_point_to_plane.h:67
pcl::registration::TransformationEstimationPointToPlane::computeDistance
Scalar computeDistance(const Vector4 &p_src, const PointTarget &p_tgt) const override
Definition transformation_estimation_point_to_plane.h:89
pcl::registration::TransformationEstimationPointToPlane::Vector4
Eigen::Matrix< Scalar, 4, 1 > Vector4
Definition transformation_estimation_point_to_plane.h:72
pcl::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane()=default
pcl::registration::TransformationEstimationPointToPlane::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition transformation_estimation_point_to_plane.h:70
pcl::registration::TransformationEstimationPointToPlane::PointCloudSourcePtr
typename PointCloudSource::Ptr PointCloudSourcePtr
Definition transformation_estimation_point_to_plane.h:66
pcl::registration::TransformationEstimationPointToPlane::ConstPtr
shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > ConstPtr
Definition transformation_estimation_point_to_plane.h:63
pcl::registration::TransformationEstimationPointToPlane::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition transformation_estimation_point_to_plane.h:69
pcl
Definition convolution.h:46
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition PointIndices.h:13
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition PointIndices.h:14