transformation_estimation.h

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#pragma once
 
#include <pcl/common/transforms.h>
#include <pcl/registration/correspondence_types.h>
#include <pcl/correspondence.h>
 
namespace pcl {
namespace registration {
/** \brief TransformationEstimation represents the base class for methods for
 * transformation estimation based on:
 *   - correspondence vectors
 *   - two point clouds (source and target) of the same size
 *   - a point cloud with a set of indices (source), and another point cloud (target)
 *   - two point clouds with two sets of indices (source and target) of the same size
 *
 * \note The class is templated on the source and target point types as well as on the
 * output scalar of the transformation matrix (i.e., float or double). Default: float.
 * \author Dirk Holz, Radu B. Rusu
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimation {
public:
  using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
 
  TransformationEstimation() = default;
  virtual ~TransformationEstimation() = default;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
   * cloud_tgt the target point cloud dataset \param[out] transformation_matrix the
   * resultant transformation matrix
   */
  virtual void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const = 0;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
   * indices_src the vector of indices describing the points of interest in \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  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;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
   * indices_src the vector of indices describing the points of interest in \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[in] indices_tgt the vector of indices describing the correspondences of the
   * interest points from \a indices_src
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  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;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud. \param[in] cloud_src the source point cloud dataset \param[in]
   * cloud_tgt the target point cloud dataset \param[in] correspondences the vector of
   * correspondences between source and target point cloud \param[out]
   * transformation_matrix the resultant transformation matrix
   */
  virtual void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Correspondences& correspondences,
                              Matrix4& transformation_matrix) const = 0;
 
  using Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>>;
  using ConstPtr =
      shared_ptr<const TransformationEstimation<PointSource, PointTarget, Scalar>>;
};
} // namespace registration
} // namespace pcl