transformation_estimation_point_to_plane.h
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
#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:
typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > Ptr;
typedef boost::shared_ptr<const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > ConstPtr;
typedef pcl::PointCloud<PointSource> PointCloudSource;
typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
typedef pcl::PointCloud<PointTarget> PointCloudTarget;
typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
typedef Eigen::Matrix<Scalar, 4, 1> Vector4;
TransformationEstimationPointToPlane () {};
virtual ~TransformationEstimationPointToPlane () {};
protected:
virtual Scalar
computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
{
// 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));
}
virtual Scalar
computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
{
// 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));
}
};
}
}
#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ */
pcl::registration::TransformationEstimationPointToPlane::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: transformation_estimation_point_to_plane.h:68
pcl::registration::TransformationEstimationPointToPlane::computeDistance
virtual Scalar computeDistance(const Vector4 &p_src, const PointTarget &p_tgt) const
Compute the distance between a source point and its corresponding target point.
Definition: transformation_estimation_point_to_plane.h:88
pcl::registration::TransformationEstimationPointToPlane::PointCloudTarget
pcl::PointCloud< PointTarget > PointCloudTarget
Definition: transformation_estimation_point_to_plane.h:67
pcl::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane()
Definition: transformation_estimation_point_to_plane.h:73
pcl
Definition: cloud_iterator.h:46
pcl::PointCloud< PointSource >::Ptr
boost::shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:428
pcl::registration::TransformationEstimationPointToPlane::Vector4
Eigen::Matrix< Scalar, 4, 1 > Vector4
Definition: transformation_estimation_point_to_plane.h:71
pcl::registration::TransformationEstimationPointToPlane::PointCloudSourceConstPtr
PointCloudSource::ConstPtr PointCloudSourceConstPtr
Definition: transformation_estimation_point_to_plane.h:66
pcl::registration::TransformationEstimationPointToPlane::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: transformation_estimation_point_to_plane.h:69
pcl::PointCloud< PointSource >::ConstPtr
boost::shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:429
pcl::registration::TransformationEstimationPointToPlane::Ptr
boost::shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_point_to_plane.h:61
pcl::PointCloud< PointSource >
pcl::PointIndices::Ptr
boost::shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
pcl::registration::TransformationEstimationLM
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation alig...
Definition: transformation_estimation_lm.h:59
pcl::registration::TransformationEstimationPointToPlane::ConstPtr
boost::shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_point_to_plane.h:62
pcl::registration::TransformationEstimationPointToPlane::PointCloudSourcePtr
PointCloudSource::Ptr PointCloudSourcePtr
Definition: transformation_estimation_point_to_plane.h:65
pcl::registration::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Definition: transformation_estimation_point_to_plane.h:58
pcl::registration::TransformationEstimationPointToPlane::~TransformationEstimationPointToPlane
virtual ~TransformationEstimationPointToPlane()
Definition: transformation_estimation_point_to_plane.h:74
pcl::registration::TransformationEstimationPointToPlane::PointCloudSource
pcl::PointCloud< PointSource > PointCloudSource
Definition: transformation_estimation_point_to_plane.h:64
pcl::registration::TransformationEstimationPointToPlane::computeDistance
virtual Scalar computeDistance(const PointSource &p_src, const PointTarget &p_tgt) const
Compute the distance between a source point and its corresponding target point.
Definition: transformation_estimation_point_to_plane.h:78
pcl::PointIndices::ConstPtr
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
Definition: PointIndices.h:23