transformation_estimation_symmetric_point_to_plane_lls.h

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// TODO(rsoussan): Remove this file from repo when PCL updated to version >= 1.10
 
#ifndef POINT_CLOUD_COMMON_TRANSFORMATION_ESTIMATION_SYMMETRIC_POINT_TO_PLANE_LLS_H_
#define POINT_CLOUD_COMMON_TRANSFORMATION_ESTIMATION_SYMMETRIC_POINT_TO_PLANE_LLS_H_
 
#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/warp_point_rigid.h>
#include <pcl/cloud_iterator.h>
 
#include <vector>
 
namespace pcl {
namespace registration {
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationSymmetricPointToPlaneLLS2
    : public TransformationEstimation<PointSource, PointTarget, Scalar> {
 public:
  using Ptr = boost::shared_ptr<TransformationEstimationSymmetricPointToPlaneLLS2<PointSource, PointTarget, Scalar> >;
  using ConstPtr =
    boost::shared_ptr<const TransformationEstimationSymmetricPointToPlaneLLS2<PointSource, PointTarget, Scalar> >;
 
  using Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4;
  using Vector6 = Eigen::Matrix<Scalar, 6, 1>;
 
  TransformationEstimationSymmetricPointToPlaneLLS2() : enforce_same_direction_normals_(true) {}
  ~TransformationEstimationSymmetricPointToPlaneLLS2() {}
 
  inline void estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                                          const pcl::PointCloud<PointTarget>& cloud_tgt,
                                          Matrix4& transformation_matrix) const override;
 
  inline void estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                                          const std::vector<int>& indices_src,
                                          const pcl::PointCloud<PointTarget>& cloud_tgt,
                                          Matrix4& transformation_matrix) const override;
 
  inline void estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                                          const std::vector<int>& indices_src,
                                          const pcl::PointCloud<PointTarget>& cloud_tgt,
                                          const std::vector<int>& indices_tgt,
                                          Matrix4& transformation_matrix) const override;
 
  inline void estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                                          const pcl::PointCloud<PointTarget>& cloud_tgt,
                                          const pcl::Correspondences& correspondences,
                                          Matrix4& transformation_matrix) const override;
 
  inline void setEnforceSameDirectionNormals(bool enforce_same_direction_normals);
 
  inline bool getEnforceSameDirectionNormals();
 
 protected:
  void estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
                                   ConstCloudIterator<PointTarget>& target_it, Matrix4& transformation_matrix) const;
 
  inline void constructTransformationMatrix(const Vector6& parameters, Matrix4& transformation_matrix) const;
 
  bool enforce_same_direction_normals_;
};
}  // namespace registration
}  // namespace pcl
 
#include <point_cloud_common/transformation_estimation_symmetric_point_to_plane_lls_impl.h>  // NOLINT
 
#endif  // POINT_CLOUD_COMMON_TRANSFORMATION_ESTIMATION_SYMMETRIC_POINT_TO_PLANE_LLS_H_