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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