Point Cloud Library (PCL)  1.7.0
transformation_estimation_point_to_plane.h
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40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
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 {
49  namespace registration
50  {
51  /** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the
52  * transformation that minimizes the point-to-plane distance between the given correspondences.
53  *
54  * \author Michael Dixon
55  * \ingroup registration
56  */
57  template <typename PointSource, typename PointTarget, typename Scalar = float>
58  class TransformationEstimationPointToPlane : public TransformationEstimationLM<PointSource, PointTarget, Scalar>
59  {
60  public:
61  typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > Ptr;
62  typedef boost::shared_ptr<const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > ConstPtr;
63 
70 
71  typedef Eigen::Matrix<Scalar, 4, 1> Vector4;
72 
75 
76  protected:
77  virtual Scalar
78  computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
79  {
80  // Compute the point-to-plane distance
81  Vector4 s (p_src.x, p_src.y, p_src.z, 0);
82  Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
83  Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
84  return ((s - t).dot (n));
85  }
86 
87  virtual Scalar
88  computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
89  {
90  // Compute the point-to-plane distance
91  Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
92  Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
93  return ((p_src - t).dot (n));
94  }
95 
96  };
97  }
98 }
99 
100 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ */
101