Point Cloud Library (PCL)  1.12.1-dev
transformation_estimation_point_to_plane.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/transformation_estimation_lm.h>
45 #include <pcl/registration/warp_point_rigid.h>
46 
47 namespace pcl {
48 namespace registration {
49 /** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to
50  * find the transformation that minimizes the point-to-plane distance between the given
51  * correspondences.
52  *
53  * \author Michael Dixon
54  * \ingroup registration
55  */
56 template <typename PointSource, typename PointTarget, typename Scalar = float>
58 : public TransformationEstimationLM<PointSource, PointTarget, Scalar> {
59 public:
60  using Ptr = shared_ptr<
62  using ConstPtr = shared_ptr<
64 
71 
72  using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
73 
76 
77 protected:
78  Scalar
79  computeDistance(const PointSource& p_src, const PointTarget& p_tgt) const override
80  {
81  // Compute the point-to-plane distance
82  Vector4 s(p_src.x, p_src.y, p_src.z, 0);
83  Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
84  Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
85  return ((s - t).dot(n));
86  }
87 
88  Scalar
89  computeDistance(const Vector4& p_src, const PointTarget& p_tgt) const override
90  {
91  // Compute the point-to-plane distance
92  Vector4 t(p_tgt.x, p_tgt.y, p_tgt.z, 0);
93  Vector4 n(p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0);
94  return ((p_src - t).dot(n));
95  }
96 };
97 } // namespace registration
98 } // namespace pcl
shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:414
TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation alig...
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Scalar computeDistance(const PointSource &p_src, const PointTarget &p_tgt) const override
Compute the distance between a source point and its corresponding target point.
shared_ptr< TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > Ptr
Scalar computeDistance(const Vector4 &p_src, const PointTarget &p_tgt) const override
shared_ptr< const TransformationEstimationPointToPlane< PointSource, PointTarget, Scalar > > ConstPtr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14