40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_H_
43 #include <pcl/registration/transformation_estimation.h>
44 #include <pcl/registration/warp_point_rigid.h>
45 #include <pcl/cloud_iterator.h>
49 namespace registration
62 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
66 typedef boost::shared_ptr<TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar> >
Ptr;
67 typedef boost::shared_ptr<const TransformationEstimationPointToPlaneLLS<PointSource, PointTarget, Scalar> >
ConstPtr;
83 Matrix4 &transformation_matrix)
const;
94 const std::vector<int> &indices_src,
96 Matrix4 &transformation_matrix)
const;
108 const std::vector<int> &indices_src,
110 const std::vector<int> &indices_tgt,
111 Matrix4 &transformation_matrix)
const;
124 Matrix4 &transformation_matrix)
const;
136 Matrix4 &transformation_matrix)
const;
149 const double & tx,
const double & ty,
const double & tz,
150 Matrix4 &transformation_matrix)
const;
156 #include <pcl/registration/impl/transformation_estimation_point_to_plane_lls.hpp>
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimation represents the base class for methods for transformation estimation based on...
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using SVD...
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
TransformationEstimationPointToPlaneLLS()
TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...
Iterator class for point clouds with or without given indices.
void constructTransformationMatrix(const double &alpha, const double &beta, const double &gamma, const double &tx, const double &ty, const double &tz, Matrix4 &transformation_matrix) const
Construct a 4 by 4 tranformation matrix from the provided rotation and translation.
virtual ~TransformationEstimationPointToPlaneLLS()
boost::shared_ptr< TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > Ptr
boost::shared_ptr< const TransformationEstimationPointToPlaneLLS< PointSource, PointTarget, Scalar > > ConstPtr