transformation_estimation.h

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00001 /*
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00036  * $Id: transformation_estimation.h 3041 2011-11-01 04:44:41Z rusu $
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00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
00041 
00042 #include <pcl/correspondence.h>
00043 #include <pcl/features/feature.h>
00044 #include <pcl/common/transforms.h>
00045 #include <pcl/registration/correspondence_types.h>
00046 
00047 namespace pcl
00048 {
00049   namespace registration
00050   {
00062     template <typename PointSource, typename PointTarget>
00063     class TransformationEstimation
00064     {
00065       public:
00066         TransformationEstimation () {};
00067         virtual ~TransformationEstimation () {};
00068 
00074         virtual void
00075         estimateRigidTransformation (
00076             const pcl::PointCloud<PointSource> &cloud_src,
00077             const pcl::PointCloud<PointTarget> &cloud_tgt,
00078             Eigen::Matrix4f &transformation_matrix) = 0;
00079 
00086         virtual void
00087         estimateRigidTransformation (
00088             const pcl::PointCloud<PointSource> &cloud_src,
00089             const std::vector<int> &indices_src,
00090             const pcl::PointCloud<PointTarget> &cloud_tgt,
00091             Eigen::Matrix4f &transformation_matrix) = 0;
00092 
00100         virtual void
00101         estimateRigidTransformation (
00102             const pcl::PointCloud<PointSource> &cloud_src,
00103             const std::vector<int> &indices_src,
00104             const pcl::PointCloud<PointTarget> &cloud_tgt,
00105             const std::vector<int> &indices_tgt,
00106             Eigen::Matrix4f &transformation_matrix) = 0;
00107 
00114         virtual void
00115         estimateRigidTransformation (
00116             const pcl::PointCloud<PointSource> &cloud_src,
00117             const pcl::PointCloud<PointTarget> &cloud_tgt,
00118             const pcl::Correspondences &correspondences,
00119             Eigen::Matrix4f &transformation_matrix) = 0;
00120 
00121 
00122         typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget> > Ptr;
00123         typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget> > ConstPtr;
00124     };
00125   }
00126 }
00127 
00128 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ */