Point Cloud Library (PCL) 1.13.0
transformation_estimation_3point.h
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37
38#pragma once
39
40#include <pcl/registration/transformation_estimation.h>
41
42namespace pcl {
43namespace registration {
44/** \brief TransformationEstimation3Points represents the class for transformation
45 * estimation based on:
46 * - correspondence vectors of 3 pairs (planar case)
47 * - two point clouds (source and target) of size 3
48 * - a point cloud with a set of 3 indices (source), and another point cloud (target)
49 * - two point clouds with two sets of indices (source and target) of the size 3
50 *
51 * \note The class is templated on the source and target point types as well as on the
52 * output scalar of the transformation matrix (i.e., float or double). Default: float.
53 *
54 * \author P.W.Theiler
55 * \ingroup registration
56 */
57template <typename PointSource, typename PointTarget, typename Scalar = float>
59: public TransformationEstimation<PointSource, PointTarget, Scalar> {
60public:
61 /** \cond */
62 using Ptr =
63 shared_ptr<TransformationEstimation3Point<PointSource, PointTarget, Scalar>>;
64 using ConstPtr = shared_ptr<
66 using Matrix4 =
68 /** \endcond */
69
70 /** \brief Constructor */
72
73 /** \brief Destructor */
74 ~TransformationEstimation3Point() override = default;
75
76 /** \brief Estimate a rigid rotation transformation between a source and a target
77 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
78 * cloud_tgt the target point cloud dataset \param[out] transformation_matrix the
79 * resultant transformation matrix
80 */
81 void
83 const pcl::PointCloud<PointTarget>& cloud_tgt,
84 Matrix4& transformation_matrix) const override;
85
86 /** \brief Estimate a rigid rotation transformation between a source and a target
87 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
88 * indices_src the vector of indices describing the points of interest in \a cloud_src
89 * \param[in] cloud_tgt the target point cloud dataset
90 * \param[out] transformation_matrix the resultant transformation matrix
91 */
92 void
94 const pcl::Indices& indices_src,
95 const pcl::PointCloud<PointTarget>& cloud_tgt,
96 Matrix4& transformation_matrix) const override;
97
98 /** \brief Estimate a rigid rotation transformation between a source and a target
99 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
100 * indices_src the vector of indices describing the points of interest in \a cloud_src
101 * \param[in] cloud_tgt the target point cloud dataset
102 * \param[in] indices_tgt the vector of indices describing the correspondences of the
103 * interest points from \a indices_src
104 * \param[out] transformation_matrix the resultant transformation matrix
105 */
106 void
108 const pcl::Indices& indices_src,
109 const pcl::PointCloud<PointTarget>& cloud_tgt,
110 const pcl::Indices& indices_tgt,
111 Matrix4& transformation_matrix) const override;
112
113 /** \brief Estimate a rigid rotation transformation between a source and a target
114 * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
115 * cloud_tgt the target point cloud dataset \param[in] correspondences the vector of
116 * correspondences between source and target point cloud \param[out]
117 * transformation_matrix the resultant transformation matrix
118 */
119 void
121 const pcl::PointCloud<PointTarget>& cloud_tgt,
122 const pcl::Correspondences& correspondences,
123 Matrix4& transformation_matrix) const override;
124
125protected:
126 /** \brief Estimate a rigid rotation transformation between a source and a target
127 * \param[in] source_it an iterator over the source point cloud dataset
128 * \param[in] target_it an iterator over the target point cloud dataset
129 * \param[out] transformation_matrix the resultant transformation matrix
130 */
131 void
134 Matrix4& transformation_matrix) const;
135};
136}; // namespace registration
137}; // namespace pcl
138
139#include <pcl/registration/impl/transformation_estimation_3point.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimation3Points represents the class for transformation estimation based on:
~TransformationEstimation3Point() override=default
Destructor.
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud.
TransformationEstimation represents the base class for methods for transformation estimation based on...
shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > > ConstPtr
shared_ptr< TransformationEstimation< PointSource, PointTarget, float > > Ptr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133