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) 2012-, Open Perception 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 the copyright holder(s) 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 * 00037 */ 00038 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_ 00039 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_ 00040 00041 #include <pcl/registration/transformation_estimation.h> 00042 00043 namespace pcl 00044 { 00045 namespace registration 00046 { 00047 /** @b TransformationEstimation2D implements a simple 2D rigid transformation 00048 * estimation (x, y, theta) for a given pair of datasets. 00049 * 00050 * The two datasets should already be transformed so that the reference plane 00051 * equals z = 0. 00052 * 00053 * \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. 00054 * 00055 * \author Suat Gedikli 00056 * \ingroup registration 00057 */ 00058 template <typename PointSource, typename PointTarget, typename Scalar = float> 00059 class TransformationEstimation2D : public TransformationEstimation<PointSource, PointTarget, Scalar> 00060 { 00061 public: 00062 typedef boost::shared_ptr<TransformationEstimation2D<PointSource, PointTarget, Scalar> > Ptr; 00063 typedef boost::shared_ptr<const TransformationEstimation2D<PointSource, PointTarget, Scalar> > ConstPtr; 00064 00065 typedef typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 Matrix4; 00066 00067 TransformationEstimation2D () {}; 00068 virtual ~TransformationEstimation2D () {}; 00069 00070 /** \brief Estimate a rigid transformation between a source and a target point cloud in 2D. 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 inline void 00076 estimateRigidTransformation ( 00077 const pcl::PointCloud<PointSource> &cloud_src, 00078 const pcl::PointCloud<PointTarget> &cloud_tgt, 00079 Matrix4 &transformation_matrix) const; 00080 00081 /** \brief Estimate a rigid transformation between a source and a target point cloud in 2D. 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 inline 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; 00093 00094 /** \brief Estimate a rigid transformation between a source and a target point cloud in 2D. 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; 00108 00109 /** \brief Estimate a rigid transformation between a source and a target point cloud in 2D. 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; 00121 00122 protected: 00123 00124 /** \brief Estimate a rigid rotation transformation between a source and a target 00125 * \param[in] source_it an iterator over the source point cloud dataset 00126 * \param[in] target_it an iterator over the target point cloud dataset 00127 * \param[out] transformation_matrix the resultant transformation matrix 00128 */ 00129 void 00130 estimateRigidTransformation (ConstCloudIterator<PointSource>& source_it, 00131 ConstCloudIterator<PointTarget>& target_it, 00132 Matrix4 &transformation_matrix) const; 00133 00134 /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt' 00135 * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format 00136 * \param[in] centroid_src the input source centroid, in Eigen format 00137 * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format 00138 * \param[in] centroid_tgt the input target cloud, in Eigen format 00139 * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix 00140 */ 00141 void 00142 getTransformationFromCorrelation ( 00143 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean, 00144 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src, 00145 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean, 00146 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt, 00147 Matrix4 &transformation_matrix) const; 00148 }; 00149 00150 } 00151 } 00152 00153 #include <pcl/registration/impl/transformation_estimation_2D.hpp> 00154 00155 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_H_ */