transformation_estimation.h

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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_

#include <pcl/correspondence.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/correspondence_types.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget, typename Scalar = float>
    class TransformationEstimation
    {
      public:
        typedef Eigen::Matrix<Scalar, 4, 4> Matrix4;

        TransformationEstimation () {};
        virtual ~TransformationEstimation () {};

        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const = 0;

        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const = 0;

        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const std::vector<int> &indices_tgt,
            Matrix4 &transformation_matrix) const = 0;

        virtual void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Matrix4 &transformation_matrix) const = 0;


        typedef boost::shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar> > Ptr;
        typedef boost::shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar> > ConstPtr;
    };
  }
}

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_H_ */