pcl::registration::TransformationEstimationLM< PointSource, PointTarget > Class Template Reference

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_lm.h>

Inheritance diagram for pcl::registration::TransformationEstimationLM< PointSource, PointTarget >:

Collaboration diagram for pcl::registration::TransformationEstimationLM< PointSource, PointTarget >:

List of all members.

Classes
struct	Functor
	Base functor all the models that need non linear optimization must define their own one and implement operator() (const Eigen::VectorXd& x, Eigen::VectorXd& fvec) or operator() (const Eigen::VectorXf& x, Eigen::VectorXf& fvec) dependening on the choosen _Scalar.
struct	OptimizationFunctor
struct	OptimizationFunctorWithIndices
Public Types
typedef boost::shared_ptr < TransformationEstimation < PointSource, PointTarget > >	Ptr
typedef boost::shared_ptr < const TransformationEstimation < PointSource, PointTarget > >	ConstPtr
Public Member Functions
	TransformationEstimationLM ()
	Constructor.
	TransformationEstimationLM (const TransformationEstimationLM &src)
	Copy constructor.
TransformationEstimationLM &	operator= (const TransformationEstimationLM &src)
	Copy operator.
virtual	~TransformationEstimationLM ()
	Destructor.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Eigen::Matrix4f &transformation_matrix)
	Estimate a rigid rotation transformation between a source and a target point cloud using LM.
void	setWarpFunction (const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &warp_fcn)
	Set the function we use to warp points.

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Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::registration::TransformationEstimationLM< PointSource, PointTarget >

TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences.

Author:

Radu B. Rusu

Definition at line 57 of file transformation_estimation_lm.h.

---

Member Typedef Documentation

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation< PointSource, PointTarget >::ConstPtr [inherited]

Definition at line 121 of file transformation_estimation.h.

template<typename PointSource , typename PointTarget >

typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget> > pcl::registration::TransformationEstimation< PointSource, PointTarget >::Ptr [inherited]

Reimplemented in pcl::registration::TransformationEstimationPointToPlane< PointSource, PointTarget >.

Definition at line 120 of file transformation_estimation.h.

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Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::TransformationEstimationLM

(

)

[inline]

Constructor.

Definition at line 70 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::TransformationEstimationLM

(

const TransformationEstimationLM< PointSource, PointTarget > &

src

)

[inline]

Copy constructor.

Parameters:

[in]

src

the TransformationEstimationLM object to copy into this

Definition at line 77 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

virtual pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::~TransformationEstimationLM

(

)

[inline, virtual]

Destructor.

Definition at line 101 of file transformation_estimation_lm.h.

---

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters:

[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 >.

Definition at line 48 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters:

[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 >.

Definition at line 106 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const std::vector< int > &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const std::vector< int > &	indices_tgt,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters:

[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 interst points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget >.

Definition at line 132 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Eigen::Matrix4f &	transformation_matrix
	)		[inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using LM.

Parameters:

[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 >.

Definition at line 192 of file transformation_estimation_lm.hpp.

template<typename PointSource , typename PointTarget >

TransformationEstimationLM& pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::operator=

(

const TransformationEstimationLM< PointSource, PointTarget > &

src

)

[inline]

Copy operator.

Parameters:

[in]

src

the TransformationEstimationLM object to copy into this

Definition at line 90 of file transformation_estimation_lm.h.

template<typename PointSource , typename PointTarget >

void pcl::registration::TransformationEstimationLM< PointSource, PointTarget >::setWarpFunction

(

const boost::shared_ptr< WarpPointRigid< PointSource, PointTarget > > &

warp_fcn

)

[inline]

Set the function we use to warp points.

Defaults to rigid 6D warp.

Parameters:

[in]

warp_fcn

a shared pointer to an object that warps points

Definition at line 160 of file transformation_estimation_lm.h.

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The documentation for this class was generated from the following files:

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/transformation_estimation_lm.h
• /usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/transformation_estimation_lm.hpp