Point Cloud Library (PCL)  1.10.1
transformation_estimation_point_to_plane.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/transformation_estimation.h>
44 #include <pcl/registration/transformation_estimation_lm.h>
45 #include <pcl/registration/warp_point_rigid.h>
46 
47 namespace pcl
48 {
49  namespace registration
50  {
51  /** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the
52  * transformation that minimizes the point-to-plane distance between the given correspondences.
53  *
54  * \author Michael Dixon
55  * \ingroup registration
56  */
57  template <typename PointSource, typename PointTarget, typename Scalar = float>
58  class TransformationEstimationPointToPlane : public TransformationEstimationLM<PointSource, PointTarget, Scalar>
59  {
60  public:
63 
65  using PointCloudSourcePtr = typename PointCloudSource::Ptr;
66  using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;
68  using PointIndicesPtr = PointIndices::Ptr;
69  using PointIndicesConstPtr = PointIndices::ConstPtr;
70 
71  using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
72 
75 
76  protected:
77  Scalar
78  computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const override
79  {
80  // Compute the point-to-plane distance
81  Vector4 s (p_src.x, p_src.y, p_src.z, 0);
82  Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
83  Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
84  return ((s - t).dot (n));
85  }
86 
87  Scalar
88  computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const override
89  {
90  // Compute the point-to-plane distance
91  Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
92  Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
93  return ((p_src - t).dot (n));
94  }
95 
96  };
97  }
98 }
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Definition: transformation_estimation_point_to_plane.h:58
pcl::registration::TransformationEstimationLM::Vector4
Eigen::Matrix< MatScalar, 4, 1 > Vector4
Definition: transformation_estimation_lm.h:76
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationPointToPlane::~TransformationEstimationPointToPlane
~TransformationEstimationPointToPlane()
Definition: transformation_estimation_point_to_plane.h:74
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:23
pcl::registration::TransformationEstimationPointToPlane::computeDistance
Scalar computeDistance(const Vector4 &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:88
pcl::registration::TransformationEstimationLM
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation alig...
Definition: transformation_estimation_lm.h:60
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
pcl::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane()
Definition: transformation_estimation_point_to_plane.h:73
pcl::registration::TransformationEstimationLM::ConstPtr
shared_ptr< const TransformationEstimationLM< PointSource, PointTarget, MatScalar > > ConstPtr
Definition: transformation_estimation_lm.h:73
pcl::PointCloud< PointSource >::Ptr
shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:415
pcl::registration::TransformationEstimationLM::Ptr
shared_ptr< TransformationEstimationLM< PointSource, PointTarget, MatScalar > > Ptr
Definition: transformation_estimation_lm.h:72
pcl::PointCloud< PointSource >::ConstPtr
shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:416
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:78
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:108