Point Cloud Library (PCL) 1.12.1
transformation_estimation.h
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40
41#pragma once
42
43#include <pcl/common/transforms.h>
44#include <pcl/registration/correspondence_types.h>
45#include <pcl/correspondence.h>
46
47namespace pcl {
48namespace registration {
49/** \brief TransformationEstimation represents the base class for methods for
50 * transformation estimation based on:
51 * - correspondence vectors
52 * - two point clouds (source and target) of the same size
53 * - a point cloud with a set of indices (source), and another point cloud (target)
54 * - two point clouds with two sets of indices (source and target) of the same size
55 *
56 * \note The class is templated on the source and target point types as well as on the
57 * output scalar of the transformation matrix (i.e., float or double). Default: float.
58 * \author Dirk Holz, Radu B. Rusu
59 * \ingroup registration
60 */
61template <typename PointSource, typename PointTarget, typename Scalar = float>
63public:
64 using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
65
68
69 /** \brief Estimate a rigid rotation transformation between a source and a target
70 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
71 * cloud_tgt the target point cloud dataset \param[out] transformation_matrix the
72 * resultant transformation matrix
73 */
74 virtual void
76 const pcl::PointCloud<PointTarget>& cloud_tgt,
77 Matrix4& transformation_matrix) const = 0;
78
79 /** \brief Estimate a rigid rotation transformation between a source and a target
80 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
81 * indices_src the vector of indices describing the points of interest in \a cloud_src
82 * \param[in] cloud_tgt the target point cloud dataset
83 * \param[out] transformation_matrix the resultant transformation matrix
84 */
85 virtual void
87 const pcl::Indices& indices_src,
88 const pcl::PointCloud<PointTarget>& cloud_tgt,
89 Matrix4& transformation_matrix) const = 0;
90
91 /** \brief Estimate a rigid rotation transformation between a source and a target
92 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
93 * indices_src the vector of indices describing the points of interest in \a cloud_src
94 * \param[in] cloud_tgt the target point cloud dataset
95 * \param[in] indices_tgt the vector of indices describing the correspondences of the
96 * interest points from \a indices_src
97 * \param[out] transformation_matrix the resultant transformation matrix
98 */
99 virtual void
101 const pcl::Indices& indices_src,
102 const pcl::PointCloud<PointTarget>& cloud_tgt,
103 const pcl::Indices& indices_tgt,
104 Matrix4& transformation_matrix) const = 0;
105
106 /** \brief Estimate a rigid rotation transformation between a source and a target
107 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
108 * cloud_tgt the target point cloud dataset \param[in] correspondences the vector of
109 * correspondences between source and target point cloud \param[out]
110 * transformation_matrix the resultant transformation matrix
111 */
112 virtual void
114 const pcl::PointCloud<PointTarget>& cloud_tgt,
115 const pcl::Correspondences& correspondences,
116 Matrix4& transformation_matrix) const = 0;
117
118 using Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>>;
119 using ConstPtr =
120 shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar>>;
121};
122} // namespace registration
123} // namespace pcl
TransformationEstimation represents the base class for methods for transformation estimation based on...
virtual void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud.
shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > ConstPtr
shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > Ptr
virtual void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud.
virtual void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud.
virtual void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const =0
Estimate a rigid rotation transformation between a source and a target point cloud.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133