transformation_estimation_point_to_plane_lls.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */
 
#pragma once
 
#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/warp_point_rigid.h>
#include <pcl/cloud_iterator.h>
 
namespace pcl {
namespace registration {
/** \brief @b TransformationEstimationPointToPlaneLLS implements a Linear Least Squares
 * (LLS) approximation for minimizing the point-to-plane distance between two clouds of
 * corresponding points with normals.
 *
 * For additional details, see
 *   "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration",
 * Kok-Lim Low, 2004
 *
 * \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 Michael Dixon
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationPointToPlaneLLS
: public TransformationEstimation<PointSource, PointTarget, Scalar> {
public:
  using Ptr = shared_ptr<
      TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar>>;
  using ConstPtr = shared_ptr<
      const TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar>>;
 
  using Matrix4 =
      typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4;
 
  TransformationEstimationPointToPlaneLLS() = default;
  ~TransformationEstimationPointToPlaneLLS() override = default;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \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
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const override;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \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
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::Indices& indices_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const override;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \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
   */
  inline 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 override;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using SVD. \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
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Correspondences& correspondences,
                              Matrix4& transformation_matrix) const override;
 
protected:
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * \param[in] source_it an iterator over the source point cloud dataset
   * \param[in] target_it an iterator over the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  void
  estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
                              ConstCloudIterator<PointTarget>& target_it,
                              Matrix4& transformation_matrix) const;
 
  /** \brief Construct a 4 by 4 transformation matrix from the provided rotation and
   * translation. \param[in] alpha the rotation about the x-axis \param[in] beta the
   * rotation about the y-axis \param[in] gamma the rotation about the z-axis \param[in]
   * tx the x translation \param[in] ty the y translation \param[in] tz the z
   * translation \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  constructTransformationMatrix(const double& alpha,
                                const double& beta,
                                const double& gamma,
                                const double& tx,
                                const double& ty,
                                const double& tz,
                                Matrix4& transformation_matrix) const;
};
} // namespace registration
} // namespace pcl
 
#include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>