Point Cloud Library (PCL)  1.14.1-dev
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 namespace 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  */
56 template <typename PointSource, typename PointTarget, typename Scalar = float>
58 : public TransformationEstimationLM<PointSource, PointTarget, Scalar> {
59 public:
60  using Ptr = shared_ptr<
62  using ConstPtr = shared_ptr<
64 
71 
72  using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
73 
76 
77 protected:
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