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.h 3041 2011-11-01 04:44:41Z rusu $ 00037 * 00038 */ 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_ */