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TransformationEstimationBase.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
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23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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27  // PURPOSE. See the GNU General Public License for more details. //
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33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONBASE_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONBASE_H_
38 
39 #include <memory>
40 
43 
44 namespace nrt
45 {
46  //! Base class for all transformation estimation methods
47  /*! Transformation estimation methods compute a rigid transform between
48  some source and target point cloud, optionally only considering
49  points linked through some correspondence. */
51  {
52  typedef PointCloud2::AffineTransform AffineTransform;
53 
54  public:
55  //! Convenience typedef for shared ptr to this
56  typedef std::shared_ptr<TransformationEstimationBase> SharedPtr;
57 
58  //! Virtual destruction
60 
61  //! Estimates a rigid transformation between a source and target cloud
62  /*! @param source The source point cloud
63  @param target The target point cloud
64  @return The 4x4 rotation matrix that performs the transform */
65  virtual AffineTransform estimateTransform( PointCloud2 const source,
66  PointCloud2 const target ) = 0;
67 
68  //! Estimates a rigid transformation between a source and target cloud
69  /*! @param source The source point cloud
70  @param target The target point cloud
71  @param correspondences The correspondences between two clouds
72  @return The 4x4 rotation matrix that performs the transform */
73  virtual AffineTransform estimateTransform( PointCloud2 const source,
74  PointCloud2 const target,
75  Correspondences const correspondences ) = 0;
76 
77  //! Gets the minimum required number of correspondences to estimate a transform
78  virtual size_t minimumNumCorrespondences() const = 0;
79  };
80 } // namespace nrt
81 
82 #endif // NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONBASE_H_
83 #endif // NRT_HAVE_CLOUD