Point Cloud Library (PCL)  1.12.0-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 namespace 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  */
62 template <typename PointSource, typename PointTarget, typename Scalar = float>
64 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
65 public:
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 
128 protected:
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>
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:64
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation
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.
Definition: transformation_estimation_point_to_plane_lls.hpp:53
pcl::registration::TransformationEstimationPointToPlaneLLS::ConstPtr
shared_ptr< const TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_point_to_plane_lls.h:69
pcl::registration::TransformationEstimationPointToPlaneLLS::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_point_to_plane_lls.h:72
pcl::registration::TransformationEstimationPointToPlaneLLS::Ptr
shared_ptr< TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_point_to_plane_lls.h:67
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::registration::TransformationEstimationPointToPlaneLLS::TransformationEstimationPointToPlaneLLS
TransformationEstimationPointToPlaneLLS()
Definition: transformation_estimation_point_to_plane_lls.h:74
pcl::registration::TransformationEstimationPointToPlaneLLS::constructTransformationMatrix
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.
Definition: transformation_estimation_point_to_plane_lls.hpp:135
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:120
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::registration::TransformationEstimationPointToPlaneLLS::~TransformationEstimationPointToPlaneLLS
~TransformationEstimationPointToPlaneLLS()
Definition: transformation_estimation_point_to_plane_lls.h:75
pcl::registration::TransformationEstimationPointToPlaneLLS
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...
Definition: transformation_estimation_point_to_plane_lls.h:63
pcl::registration::TransformationEstimation
TransformationEstimation represents the base class for methods for transformation estimation based on...
Definition: transformation_estimation.h:62