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TransformationEstimationPointToPlane.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_TRANSFORMATIONESTIMATIONPOINTTOPLANE_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONPOINTTOPLANE_H_
38 
41 
42 namespace nrt
43 {
44  //! Estimates a rigid transform using a point to plane distance metric
45  //! with a Levenberg Marquardt backend
46  /*! The point clouds used in this transformation estimator must have an
47  nrt::PointNormal field. */
49  {
50  public:
51  typedef PointCloud2::AffineTransform AffineTransform;
52 
54 
55  //! Estimates a rigid transformation between a source and target cloud
56  /*! @param source The source point cloud
57  @param target The target point cloud
58  @return The 4x4 rotation matrix that performs the transform */
59  AffineTransform estimateTransform( PointCloud2 const source,
60  PointCloud2 const target );
61 
62  //! Estimates a rigid transformation between a source and target cloud
63  /*! @param source The source point cloud
64  @param target The target point cloud
65  @param correspondences The correspondences between two clouds
66  @return The 4x4 rotation matrix that performs the transform */
67  AffineTransform estimateTransform( PointCloud2 const source,
68  PointCloud2 const target,
69  Correspondences const correspondences );
70 
71  //! Gets the minimum required number of correspondences to estimate a transform
72  inline size_t minimumNumCorrespondences() const { return 3; }
73 
74  protected:
75  //! Does the actual estimation
76  AffineTransform estimate( PointCloud2::ConstIterator<PointNormal> && sourceBegin,
78  const size_t srcSize );
79 
80  private:
81  //! Used by eigen during optimization
82  struct LMFunctor;
83  };
84 } // namespace nrt
85 
86 #endif // NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONPOINTTOPLANE_H_
87 #endif // NRT_HAVE_CLOUD