cloudViewer::pipelines::registration::TransformationEstimationPointToPlane Class Reference

#include <TransformationEstimation.h>

Inheritance diagram for cloudViewer::pipelines::registration::TransformationEstimationPointToPlane:

Collaboration diagram for cloudViewer::pipelines::registration::TransformationEstimationPointToPlane:

Public Member Functions
	TransformationEstimationPointToPlane ()
	Default Constructor. More...
	~TransformationEstimationPointToPlane () override
	TransformationEstimationPointToPlane (std::shared_ptr< RobustKernel > kernel)
	Constructor that takes as input a RobustKernel. More...
TransformationEstimationType	GetTransformationEstimationType () const override
double	ComputeRMSE (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Eigen::Matrix4d	ComputeTransformation (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres) const override
Public Member Functions inherited from cloudViewer::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor. More...
virtual	~TransformationEstimation ()

Public Attributes
std::shared_ptr< RobustKernel >	kernel_ = std::make_shared<L2Loss>()
	shared_ptr to an Abstract RobustKernel that could mutate at runtime. More...

Detailed Description

Class to estimate a transformation for point to plane distance.

Definition at line 111 of file TransformationEstimation.h.

Constructor & Destructor Documentation

TransformationEstimationPointToPlane() [1/2]

cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane ( )

inline

Default Constructor.

Definition at line 114 of file TransformationEstimation.h.

~TransformationEstimationPointToPlane()

cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::~TransformationEstimationPointToPlane ( )

inlineoverride

Definition at line 115 of file TransformationEstimation.h.

TransformationEstimationPointToPlane() [2/2]

cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::TransformationEstimationPointToPlane ( std::shared_ptr< RobustKernel >  kernel )

inlineexplicit

Constructor that takes as input a RobustKernel.

Parameters

kernel

Any of the implemented statistical robust kernel for outlier rejection.

Definition at line 119 of file TransformationEstimation.h.

Member Function Documentation

ComputeRMSE()

double cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeRMSE ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 46 of file TransformationEstimation.cpp.

References dot(), ccPointCloud::getEigenNormal(), cloudViewer::PointCloudTpl< T >::getEigenPoint(), and ccPointCloud::hasNormals().

ComputeTransformation()

Eigen::Matrix4d cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeTransformation ( const ccPointCloud &  source, const ccPointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 60 of file TransformationEstimation.cpp.

References cloudViewer::utility::ComputeJTJandJTr(), dot(), ccPointCloud::getEigenNormal(), cloudViewer::PointCloudTpl< T >::getEigenPoint(), ccPointCloud::hasNormals(), kernel_, and cloudViewer::utility::SolveJacobianSystemAndObtainExtrinsicMatrix().

GetTransformationEstimationType()

TransformationEstimationType cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::GetTransformationEstimationType ( ) const

inlineoverridevirtual

Implements cloudViewer::pipelines::registration::TransformationEstimation.

Definition at line 124 of file TransformationEstimation.h.

Member Data Documentation

kernel_

std::shared_ptr<RobustKernel> cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::kernel_ = std::make_shared<L2Loss>()

shared_ptr to an Abstract RobustKernel that could mutate at runtime.

Definition at line 138 of file TransformationEstimation.h.

Referenced by ComputeTransformation(), and cloudViewer::pipelines::registration::pybind_registration_classes().

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

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/TransformationEstimation.h
• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/TransformationEstimation.cpp