Point Cloud Library (PCL) 1.12.0
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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 */
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.
PointCloud represents the base class in PCL for storing collections of 3D points.
TransformationEstimation3Points represents the class for transformation estimation based on:
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< TransformationEstimation< PointSource, PointTarget, float > > Ptr
shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133