Point Cloud Library (PCL)  1.9.1-dev
transformation_estimation_point_to_plane_lls.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/transformation_estimation.h>
44 #include <pcl/registration/warp_point_rigid.h>
45 #include <pcl/cloud_iterator.h>
46 
47 namespace pcl
48 {
49  namespace registration
50  {
51  /** \brief @b TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation
52  * for minimizing the point-to-plane distance between two clouds of corresponding points with normals.
53  *
54  * For additional details, see
55  * "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004
56  *
57  * \note The class is templated on the source and target point types as well as on the output scalar of the
58  * transformation matrix (i.e., float or double). Default: float.
59  * \author Michael Dixon
60  * \ingroup registration
61  */
62  template <typename PointSource, typename PointTarget, typename Scalar = float>
63  class TransformationEstimationPointToPlaneLLS : public TransformationEstimation<PointSource, PointTarget, Scalar>
64  {
65  public:
66  using Ptr = boost::shared_ptr<TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar> >;
67  using ConstPtr = boost::shared_ptr<const TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar> >;
68 
70 
73 
74  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
75  * \param[in] cloud_src the source point cloud dataset
76  * \param[in] cloud_tgt the target point cloud dataset
77  * \param[out] transformation_matrix the resultant transformation matrix
78  */
79  inline void
81  const pcl::PointCloud<PointSource> &cloud_src,
82  const pcl::PointCloud<PointTarget> &cloud_tgt,
83  Matrix4 &transformation_matrix) const override;
84 
85  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
86  * \param[in] cloud_src the source point cloud dataset
87  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
88  * \param[in] cloud_tgt the target point cloud dataset
89  * \param[out] transformation_matrix the resultant transformation matrix
90  */
91  inline void
93  const pcl::PointCloud<PointSource> &cloud_src,
94  const std::vector<int> &indices_src,
95  const pcl::PointCloud<PointTarget> &cloud_tgt,
96  Matrix4 &transformation_matrix) const override;
97 
98  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
99  * \param[in] cloud_src the source point cloud dataset
100  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
101  * \param[in] cloud_tgt the target point cloud dataset
102  * \param[in] indices_tgt the vector of indices describing the correspondences of the interest points from \a indices_src
103  * \param[out] transformation_matrix the resultant transformation matrix
104  */
105  inline void
107  const pcl::PointCloud<PointSource> &cloud_src,
108  const std::vector<int> &indices_src,
109  const pcl::PointCloud<PointTarget> &cloud_tgt,
110  const std::vector<int> &indices_tgt,
111  Matrix4 &transformation_matrix) const override;
112 
113  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
114  * \param[in] cloud_src the source point cloud dataset
115  * \param[in] cloud_tgt the target point cloud dataset
116  * \param[in] correspondences the vector of correspondences between source and target point cloud
117  * \param[out] transformation_matrix the resultant transformation matrix
118  */
119  inline void
121  const pcl::PointCloud<PointSource> &cloud_src,
122  const pcl::PointCloud<PointTarget> &cloud_tgt,
123  const pcl::Correspondences &correspondences,
124  Matrix4 &transformation_matrix) const override;
125 
126  protected:
127 
128  /** \brief Estimate a rigid rotation transformation between a source and a target
129  * \param[in] source_it an iterator over the source point cloud dataset
130  * \param[in] target_it an iterator over the target point cloud dataset
131  * \param[out] transformation_matrix the resultant transformation matrix
132  */
133  void
136  Matrix4 &transformation_matrix) const;
137 
138  /** \brief Construct a 4 by 4 transformation matrix from the provided rotation and translation.
139  * \param[in] alpha the rotation about the x-axis
140  * \param[in] beta the rotation about the y-axis
141  * \param[in] gamma the rotation about the z-axis
142  * \param[in] tx the x translation
143  * \param[in] ty the y translation
144  * \param[in] tz the z translation
145  * \param[out] transformation_matrix the resultant transformation matrix
146  */
147  inline void
148  constructTransformationMatrix (const double & alpha, const double & beta, const double & gamma,
149  const double & tx, const double & ty, const double & tz,
150  Matrix4 &transformation_matrix) const;
151 
152  };
153  }
154 }
155 
156 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>
Iterator class for point clouds with or without given indices.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
boost::shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > Ptr
boost::shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > ConstPtr
void constructTransformationMatrix(const double &alpha, const double &beta, const double &gamma, const double &tx, const double &ty, const double &tz, Matrix4 &transformation_matrix) const
Construct a 4 by 4 transformation matrix from the provided rotation and translation.
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
TransformationEstimation represents the base class for methods for transformation estimation based on...
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using SVD...