Point Cloud Library (PCL) 1.12.1
transformation_estimation_point_to_plane_lls.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
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
47namespace pcl {
48namespace registration {
49/** \brief @b TransformationEstimationPointToPlaneLLS implements a Linear Least Squares
50 * (LLS) approximation for minimizing the point-to-plane distance between two clouds of
51 * corresponding points with normals.
52 *
53 * For additional details, see
54 * "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration",
55 * Kok-Lim Low, 2004
56 *
57 * \note The class is templated on the source and target point types as well as on the
58 * output scalar of the transformation matrix (i.e., float or double). Default: float.
59 * \author Michael Dixon
60 * \ingroup registration
61 */
62template <typename PointSource, typename PointTarget, typename Scalar = float>
64: public TransformationEstimation<PointSource, PointTarget, Scalar> {
65public:
66 using Ptr = shared_ptr<
68 using ConstPtr = shared_ptr<
70
71 using Matrix4 =
73
76
77 /** \brief Estimate a rigid rotation transformation between a source and a target
78 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
79 * \param[in] cloud_tgt the target point cloud dataset
80 * \param[out] transformation_matrix the resultant transformation matrix
81 */
82 inline void
84 const pcl::PointCloud<PointTarget>& cloud_tgt,
85 Matrix4& transformation_matrix) const override;
86
87 /** \brief Estimate a rigid rotation transformation between a source and a target
88 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
89 * \param[in] indices_src the vector of indices describing the points of interest in
90 * \a cloud_src
91 * \param[in] cloud_tgt the target point cloud dataset
92 * \param[out] transformation_matrix the resultant transformation matrix
93 */
94 inline void
96 const pcl::Indices& indices_src,
97 const pcl::PointCloud<PointTarget>& cloud_tgt,
98 Matrix4& transformation_matrix) const override;
99
100 /** \brief Estimate a rigid rotation transformation between a source and a target
101 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
102 * \param[in] indices_src the vector of indices describing the points of interest in
103 * \a cloud_src
104 * \param[in] cloud_tgt the target point cloud dataset
105 * \param[in] indices_tgt the vector of indices describing the correspondences of the
106 * interest points from \a indices_src
107 * \param[out] transformation_matrix the resultant transformation matrix
108 */
109 inline void
111 const pcl::Indices& indices_src,
112 const pcl::PointCloud<PointTarget>& cloud_tgt,
113 const pcl::Indices& indices_tgt,
114 Matrix4& transformation_matrix) const override;
115
116 /** \brief Estimate a rigid rotation transformation between a source and a target
117 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
118 * \param[in] cloud_tgt the target point cloud dataset
119 * \param[in] correspondences the vector of correspondences between source and target
120 * point cloud \param[out] transformation_matrix the resultant transformation matrix
121 */
122 inline void
124 const pcl::PointCloud<PointTarget>& cloud_tgt,
125 const pcl::Correspondences& correspondences,
126 Matrix4& transformation_matrix) const override;
127
128protected:
129 /** \brief Estimate a rigid rotation transformation between a source and a target
130 * \param[in] source_it an iterator over the source point cloud dataset
131 * \param[in] target_it an iterator over the target point cloud dataset
132 * \param[out] transformation_matrix the resultant transformation matrix
133 */
134 void
137 Matrix4& transformation_matrix) const;
138
139 /** \brief Construct a 4 by 4 transformation matrix from the provided rotation and
140 * translation. \param[in] alpha the rotation about the x-axis \param[in] beta the
141 * rotation about the y-axis \param[in] gamma the rotation about the z-axis \param[in]
142 * tx the x translation \param[in] ty the y translation \param[in] tz the z
143 * translation \param[out] transformation_matrix the resultant transformation matrix
144 */
145 inline void
146 constructTransformationMatrix(const double& alpha,
147 const double& beta,
148 const double& gamma,
149 const double& tx,
150 const double& ty,
151 const double& tz,
152 Matrix4& transformation_matrix) const;
153};
154} // namespace registration
155} // namespace pcl
156
157#include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimation represents the base class for methods for transformation estimation based on...
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > Ptr
shared_ptr< const TransformationEstimationPointToPlaneLLS< 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.
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.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133