Point Cloud Library (PCL)
1.7.0
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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 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ 00041 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ 00042 00043 #include <pcl/correspondence.h> 00044 #include <pcl/common/transforms.h> 00045 #include <pcl/registration/correspondence_types.h> 00046 00047 namespace pcl 00048 { 00049 namespace registration 00050 { 00051 /** \brief TransformationEstimation represents the base class for methods for transformation estimation based on: 00052 * - correspondence vectors 00053 * - two point clouds (source and target) of the same size 00054 * - a point cloud with a set of indices (source), and another point cloud (target) 00055 * - two point clouds with two sets of indices (source and target) of the same size 00056 * 00057 * \note The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. 00058 * \author Dirk Holz, Radu B. Rusu 00059 * \ingroup registration 00060 */ 00061 template <typename PointSource, typename PointTarget, typename Scalar = float> 00062 class TransformationEstimation 00063 { 00064 public: 00065 typedef Eigen::Matrix<Scalar, 4, 4> Matrix4; 00066 00067 TransformationEstimation () {}; 00068 virtual ~TransformationEstimation () {}; 00069 00070 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud. 00071 * \param[in] cloud_src the source point cloud dataset 00072 * \param[in] cloud_tgt the target point cloud dataset 00073 * \param[out] transformation_matrix the resultant transformation matrix 00074 */ 00075 virtual void 00076 estimateRigidTransformation ( 00077 const pcl::PointCloud<PointSource> &cloud_src, 00078 const pcl::PointCloud<PointTarget> &cloud_tgt, 00079 Matrix4 &transformation_matrix) const = 0; 00080 00081 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud. 00082 * \param[in] cloud_src the source point cloud dataset 00083 * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src 00084 * \param[in] cloud_tgt the target point cloud dataset 00085 * \param[out] transformation_matrix the resultant transformation matrix 00086 */ 00087 virtual void 00088 estimateRigidTransformation ( 00089 const pcl::PointCloud<PointSource> &cloud_src, 00090 const std::vector<int> &indices_src, 00091 const pcl::PointCloud<PointTarget> &cloud_tgt, 00092 Matrix4 &transformation_matrix) const = 0; 00093 00094 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud. 00095 * \param[in] cloud_src the source point cloud dataset 00096 * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src 00097 * \param[in] cloud_tgt the target point cloud dataset 00098 * \param[in] indices_tgt the vector of indices describing the correspondences of the interst points from \a indices_src 00099 * \param[out] transformation_matrix the resultant transformation matrix 00100 */ 00101 virtual void 00102 estimateRigidTransformation ( 00103 const pcl::PointCloud<PointSource> &cloud_src, 00104 const std::vector<int> &indices_src, 00105 const pcl::PointCloud<PointTarget> &cloud_tgt, 00106 const std::vector<int> &indices_tgt, 00107 Matrix4 &transformation_matrix) const = 0; 00108 00109 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud. 00110 * \param[in] cloud_src the source point cloud dataset 00111 * \param[in] cloud_tgt the target point cloud dataset 00112 * \param[in] correspondences the vector of correspondences between source and target point cloud 00113 * \param[out] transformation_matrix the resultant transformation matrix 00114 */ 00115 virtual void 00116 estimateRigidTransformation ( 00117 const pcl::PointCloud<PointSource> &cloud_src, 00118 const pcl::PointCloud<PointTarget> &cloud_tgt, 00119 const pcl::Correspondences &correspondences, 00120 Matrix4 &transformation_matrix) const = 0; 00121 00122 00123 typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> > Ptr; 00124 typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> > ConstPtr; 00125 }; 00126 } 00127 } 00128 00129 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ */