Point Cloud Library (PCL) 1.12.0
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
47namespace pcl {
48namespace registration {
49/** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to
50 * find the transformation that minimizes the point-to-plane distance between the given
51 * correspondences.
52 *
53 * \author Michael Dixon
54 * \ingroup registration
55 */
56template <typename PointSource, typename PointTarget, typename Scalar = float>
58: public TransformationEstimationLM<PointSource, PointTarget, Scalar> {
59public:
60 using Ptr = shared_ptr<
62 using ConstPtr = shared_ptr<
64
71
72 using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
73
76
77protected:
78 Scalar
79 computeDistance(const PointSource& p_src, const PointTarget& p_tgt) const override
80 {
81 // Compute the point-to-plane distance
82 Vector4 s(p_src.x, p_src.y, p_src.z, 0);
83 Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
84 Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
85 return ((s - t).dot(n));
86 }
87
88 Scalar
89 computeDistance(const Vector4& p_src, const PointTarget& p_tgt) const override
90 {
91 // Compute the point-to-plane distance
92 Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
93 Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
94 return ((p_src - t).dot(n));
95 }
96};
97} // namespace registration
98} // namespace pcl
shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:414
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation alig...
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Scalar computeDistance(const PointSource &p_src, const PointTarget &p_tgt) const override
Compute the distance between a source point and its corresponding target point.
shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > Ptr
Scalar computeDistance(const Vector4 &p_src, const PointTarget &p_tgt) const override
shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > ConstPtr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14