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_POINT_TO_PLANE_H_ 00041 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ 00042 00043 #include <pcl/registration/transformation_estimation.h> 00044 #include <pcl/registration/transformation_estimation_lm.h> 00045 #include <pcl/registration/warp_point_rigid.h> 00046 00047 namespace pcl 00048 { 00049 namespace registration 00050 { 00051 /** @b TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the 00052 * transformation that minimizes the point-to-plane distance between the given correspondences. 00053 * 00054 * \author Michael Dixon 00055 * \ingroup registration 00056 */ 00057 template <typename PointSource, typename PointTarget, typename Scalar = float> 00058 class TransformationEstimationPointToPlane : public TransformationEstimationLM<PointSource, PointTarget, Scalar> 00059 { 00060 public: 00061 typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > Ptr; 00062 typedef boost::shared_ptr<const TransformationEstimationPointToPlane<PointSource, PointTarget, Scalar> > ConstPtr; 00063 00064 typedef pcl::PointCloud<PointSource> PointCloudSource; 00065 typedef typename PointCloudSource::Ptr PointCloudSourcePtr; 00066 typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr; 00067 typedef pcl::PointCloud<PointTarget> PointCloudTarget; 00068 typedef PointIndices::Ptr PointIndicesPtr; 00069 typedef PointIndices::ConstPtr PointIndicesConstPtr; 00070 00071 typedef Eigen::Matrix<Scalar, 4, 1> Vector4; 00072 00073 TransformationEstimationPointToPlane () {}; 00074 virtual ~TransformationEstimationPointToPlane () {}; 00075 00076 protected: 00077 virtual Scalar 00078 computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const 00079 { 00080 // Compute the point-to-plane distance 00081 Vector4 s (p_src.x, p_src.y, p_src.z, 0); 00082 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0); 00083 Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0); 00084 return ((s - t).dot (n)); 00085 } 00086 00087 virtual Scalar 00088 computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const 00089 { 00090 // Compute the point-to-plane distance 00091 Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0); 00092 Vector4 n (p_tgt.normal_x, p_tgt.normal_y, p_tgt.normal_z, 0); 00093 return ((p_src - t).dot (n)); 00094 } 00095 00096 }; 00097 } 00098 } 00099 00100 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ */ 00101