Point Cloud Library (PCL) 1.15.0
Loading...
Searching...
No Matches
transformation_estimation_point_to_plane_lls.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
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
47namespace pcl {
48namespace 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 */
62template <typename PointSource, typename PointTarget, typename Scalar = float>
64: public TransformationEstimation<PointSource, PointTarget, Scalar> {
65public:
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
128protected:
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>
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
TransformationEstimation represents the base class for methods for transformation estimation based on...
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > Ptr
shared_ptr< const TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > ConstPtr
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.
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.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133