pcl: transformation_estimation_point_to_plane_lls

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00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 
00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_ 
00041 
00042 #include <pcl/registration/transformation_estimation.h>
00043 #include <pcl/registration/warp_point_rigid.h>
00044 #include <pcl/cloud_iterator.h>
00045 
00046 namespace pcl
00047 {
00048   namespace registration
00049   {
00062     template <typename PointSource, typename PointTarget, typename Scalar = float>
00063     class TransformationEstimationPointToPlaneLLSWeighted : public TransformationEstimation<PointSource, PointTarget, Scalar>
00064     {
00065       public:
00066         typedef boost::shared_ptr<TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > Ptr;
00067         typedef boost::shared_ptr<const TransformationEstimationPointToPlaneLLSWeighted<PointSource, PointTarget, Scalar> > ConstPtr;
00068 
00069         typedef typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
00070         
00071         TransformationEstimationPointToPlaneLLSWeighted () { };
00072         virtual ~TransformationEstimationPointToPlaneLLSWeighted () { };
00073 
00079         inline void
00080         estimateRigidTransformation (
00081             const pcl::PointCloud<PointSource> &cloud_src,
00082             const pcl::PointCloud<PointTarget> &cloud_tgt,
00083             Matrix4 &transformation_matrix) const;
00084 
00091         inline void
00092         estimateRigidTransformation (
00093             const pcl::PointCloud<PointSource> &cloud_src,
00094             const std::vector<int> &indices_src,
00095             const pcl::PointCloud<PointTarget> &cloud_tgt,
00096             Matrix4 &transformation_matrix) const;
00097 
00105         inline void
00106         estimateRigidTransformation (
00107             const pcl::PointCloud<PointSource> &cloud_src,
00108             const std::vector<int> &indices_src,
00109             const pcl::PointCloud<PointTarget> &cloud_tgt,
00110             const std::vector<int> &indices_tgt,
00111             Matrix4 &transformation_matrix) const;
00112 
00119         inline void
00120         estimateRigidTransformation (
00121             const pcl::PointCloud<PointSource> &cloud_src,
00122             const pcl::PointCloud<PointTarget> &cloud_tgt,
00123             const pcl::Correspondences &correspondences,
00124             Matrix4 &transformation_matrix) const;
00125 
00126 
00130         inline void
00131         setCorrespondenceWeights (const std::vector<Scalar> &weights)
00132         { weights_ = weights; }
00133 
00134       protected:
00135         
00141         void 
00142         estimateRigidTransformation (ConstCloudIterator<PointSource>& source_it, 
00143                                      ConstCloudIterator<PointTarget>& target_it, 
00144                                      typename std::vector<Scalar>::const_iterator& weights_it,
00145                                      Matrix4 &transformation_matrix) const;
00146 
00156         inline void
00157         constructTransformationMatrix (const double & alpha, const double & beta, const double & gamma,
00158                                        const double & tx,    const double & ty,   const double & tz,
00159                                        Matrix4 &transformation_matrix) const;
00160 
00161         std::vector<Scalar> weights_;
00162     };
00163   }
00164 }
00165 
00166 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls_weighted.hpp>
00167 
00168 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_H_  */