Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: transformation_estimation_point_to_plane_lls.h 3042 2011-11-01 04:44:47Z svn $ 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_ 00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_ 00041 00042 #include <pcl/registration/transformation_estimation.h> 00043 #include <pcl/registration/warp_point_rigid.h> 00044 00045 namespace pcl 00046 { 00047 namespace registration 00048 { 00058 template <typename PointSource, typename PointTarget> 00059 class TransformationEstimationPointToPlaneLLS : public TransformationEstimation<PointSource, PointTarget> 00060 { 00061 public: 00062 TransformationEstimationPointToPlaneLLS () {}; 00063 virtual ~TransformationEstimationPointToPlaneLLS () {}; 00064 00070 inline void 00071 estimateRigidTransformation ( 00072 const pcl::PointCloud<PointSource> &cloud_src, 00073 const pcl::PointCloud<PointTarget> &cloud_tgt, 00074 Eigen::Matrix4f &transformation_matrix); 00075 00082 inline void 00083 estimateRigidTransformation ( 00084 const pcl::PointCloud<PointSource> &cloud_src, 00085 const std::vector<int> &indices_src, 00086 const pcl::PointCloud<PointTarget> &cloud_tgt, 00087 Eigen::Matrix4f &transformation_matrix); 00088 00096 inline void 00097 estimateRigidTransformation ( 00098 const pcl::PointCloud<PointSource> &cloud_src, 00099 const std::vector<int> &indices_src, 00100 const pcl::PointCloud<PointTarget> &cloud_tgt, 00101 const std::vector<int> &indices_tgt, 00102 Eigen::Matrix4f &transformation_matrix); 00103 00110 inline void 00111 estimateRigidTransformation ( 00112 const pcl::PointCloud<PointSource> &cloud_src, 00113 const pcl::PointCloud<PointTarget> &cloud_tgt, 00114 const Correspondences &correspondences, 00115 Eigen::Matrix4f &transformation_matrix); 00116 00117 protected: 00127 inline void 00128 constructTransformationMatrix (const float & alpha, const float & beta, const float & gamma, 00129 const float & tx, const float & ty, const float & tz, 00130 Eigen::Matrix4f &transformation_matrix); 00131 00132 }; 00133 } 00134 } 00135 00136 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp> 00137 00138 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_LLS_ */