pcl: transformation_estimation_point_to_plane

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00001 /*
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00036  * $Id: transformation_estimation_point_to_plane_lls.h 3756 2011-12-31 23:54:41Z rusu $
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00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_ 
00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_
00041 
00042 #include <pcl/registration/transformation_estimation.h>
00043 #include <pcl/registration/warp_point_rigid.h>
00044 
00045 namespace pcl
00046 {
00047   namespace registration
00048   {
00058     template <typename PointSource, typename PointTarget>
00059     class TransformationEstimationPointToPlaneLLS : public TransformationEstimation<PointSource, PointTarget>
00060     {
00061       public:
00062         TransformationEstimationPointToPlaneLLS () {};
00063         virtual ~TransformationEstimationPointToPlaneLLS () {};
00064 
00070         inline void
00071         estimateRigidTransformation (
00072             const pcl::PointCloud<PointSource> &cloud_src,
00073             const pcl::PointCloud<PointTarget> &cloud_tgt,
00074             Eigen::Matrix4f &transformation_matrix);
00075 
00082         inline void
00083         estimateRigidTransformation (
00084             const pcl::PointCloud<PointSource> &cloud_src,
00085             const std::vector<int> &indices_src,
00086             const pcl::PointCloud<PointTarget> &cloud_tgt,
00087             Eigen::Matrix4f &transformation_matrix);
00088 
00096         inline void
00097         estimateRigidTransformation (
00098             const pcl::PointCloud<PointSource> &cloud_src,
00099             const std::vector<int> &indices_src,
00100             const pcl::PointCloud<PointTarget> &cloud_tgt,
00101             const std::vector<int> &indices_tgt,
00102             Eigen::Matrix4f &transformation_matrix);
00103 
00110         inline void
00111         estimateRigidTransformation (
00112             const pcl::PointCloud<PointSource> &cloud_src,
00113             const pcl::PointCloud<PointTarget> &cloud_tgt,
00114             const pcl::Correspondences &correspondences,
00115             Eigen::Matrix4f &transformation_matrix);
00116 
00117       protected:
00127         inline void
00128         constructTransformationMatrix (const float & alpha, const float & beta, const float & gamma,
00129                                        const float & tx, const float & ty, const float & tz,
00130                                        Eigen::Matrix4f &transformation_matrix);
00131 
00132     };
00133   }
00134 }
00135 
00136 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>
00137 
00138 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_LLS_ */