140 lines
6.5 KiB
C
140 lines
6.5 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/registration/transformation_estimation.h>
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namespace pcl {
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namespace registration {
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/** \brief TransformationEstimation3Points represents the class for transformation
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* estimation based on:
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* - correspondence vectors of 3 pairs (planar case)
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* - two point clouds (source and target) of size 3
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* - a point cloud with a set of 3 indices (source), and another point cloud (target)
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* - two point clouds with two sets of indices (source and target) of the size 3
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*
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* \note The class is templated on the source and target point types as well as on the
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* output scalar of the transformation matrix (i.e., float or double). Default: float.
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*
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* \author P.W.Theiler
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* \ingroup registration
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*/
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template <typename PointSource, typename PointTarget, typename Scalar = float>
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class TransformationEstimation3Point
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: public TransformationEstimation<PointSource, PointTarget, Scalar> {
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public:
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/** \cond */
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using Ptr =
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shared_ptr<TransformationEstimation3Point<PointSource, PointTarget, Scalar>>;
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using ConstPtr = shared_ptr<
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const TransformationEstimation3Point<PointSource, PointTarget, Scalar>>;
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using Matrix4 =
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typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4;
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/** \endcond */
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/** \brief Constructor */
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TransformationEstimation3Point(){};
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/** \brief Destructor */
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~TransformationEstimation3Point(){};
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
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* cloud_tgt the target point cloud dataset \param[out] transformation_matrix the
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* resultant transformation matrix
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*/
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void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
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* indices_src the vector of indices describing the points of interest in \a cloud_src
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::Indices& indices_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
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* indices_src the vector of indices describing the points of interest in \a cloud_src
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[in] indices_tgt the vector of indices describing the correspondences of the
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* interest points from \a indices_src
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::Indices& indices_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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const pcl::Indices& indices_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
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* cloud_tgt the target point cloud dataset \param[in] correspondences the vector of
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* correspondences between source and target point cloud \param[out]
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* transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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const pcl::Correspondences& correspondences,
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Matrix4& transformation_matrix) const override;
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protected:
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* \param[in] source_it an iterator over the source point cloud dataset
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* \param[in] target_it an iterator over the target point cloud dataset
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
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ConstCloudIterator<PointTarget>& target_it,
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Matrix4& transformation_matrix) const;
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};
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}; // namespace registration
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}; // namespace pcl
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#include <pcl/registration/impl/transformation_estimation_3point.hpp>
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