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TransformationEstimationPointToPlaneLLS.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) //
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34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONPOINTTOPLANELLS_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONPOINTTOPLANELLS_H_
38 
41 
42 namespace nrt
43 {
44  //! Estimates a rigid transform using a linear least squares approximation using
45  //! a point to plane distance metric
46  /*! The point clouds used in this estimation must have nrt::PointNormal fields.
47  This method should only be used when the expected rotation between two clouds is
48  reasonably small (30 degrees maximum).
49 
50  Based upon the following paper:
51  Linear Least-Squares Optimization for Point-to-PlaneICP Surface Registration
52  Kok-Lim Low
53  Technical Report, Dept. of Computer Science, University of North Carolina at Chapel Hill, 2004 */
55  {
56  typedef PointCloud2::AffineTransform AffineTransform;
57 
58  public:
59  //! Estimates a rigid transformation between a source and target cloud
60  /*! @param source The source point cloud
61  @param target The target point cloud
62  @return The 4x4 rotation matrix that performs the transform */
63  AffineTransform estimateTransform( PointCloud2 const source,
64  PointCloud2 const target );
65 
66  //! Estimates a rigid transformation between a source and target cloud
67  /*! @param source The source point cloud
68  @param target The target point cloud
69  @param correspondences The correspondences between two clouds
70  @return The 4x4 rotation matrix that performs the transform */
71  AffineTransform estimateTransform( PointCloud2 const source,
72  PointCloud2 const target,
73  Correspondences const correspondences );
74 
75  //! Gets the minimum required number of correspondences to estimate a transform
76  inline size_t minimumNumCorrespondences() const { return 3; }
77 
78  protected:
79  //! Does the actual estimation
80  AffineTransform estimate( PointCloud2::ConstIterator<PointNormal> && sourceBegin,
82  const size_t srcSize );
83  };
84 } // namespace nrt
85 
86 #endif // NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONPOINTTOPLANELLS_H_
87 #endif // NRT_HAVE_CLOUD