ndt.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef PCL_NDT_H_
#define PCL_NDT_H_

#include "pcl/registration/registration.h"

namespace pcl
{
  template <typename PointSource, typename PointTarget>
  class NormalDistributionsTransform : public Registration<PointSource, PointTarget>
  {
    typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
    typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
    typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

    typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;

    typedef PointIndices::Ptr PointIndicesPtr;
    typedef PointIndices::ConstPtr PointIndicesConstPtr;

    public:
      NormalDistributionsTransform ()
        : Registration<PointSource,PointTarget> (),
          grid_centre_ (0,0), grid_step_ (1,1), grid_extent_ (20,20), newton_lambda_ (1,1,1)
      {
        reg_name_ = "NormalDistributionsTransform";
      }
 
      virtual void
      setGridCentre (const Eigen::Vector2f& centre) { grid_centre_ = centre; }

      virtual void
      setGridStep (const Eigen::Vector2f& step) { grid_step_ = step; }

      virtual void
      setGridExtent (const Eigen::Vector2f& extent) { grid_extent_ = extent; }

       virtual void
       setOptimizationStepSize (const double& lambda) { newton_lambda_ = Eigen::Vector3d (lambda, lambda, lambda); }

       virtual void
       setOptimizationStepSize (const Eigen::Vector3d& lambda) { newton_lambda_ = lambda; }

    protected:
      virtual void 
      computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess);

      using Registration<PointSource, PointTarget>::reg_name_;
      using Registration<PointSource, PointTarget>::target_;
      using Registration<PointSource, PointTarget>::converged_;
      using Registration<PointSource, PointTarget>::nr_iterations_;
      using Registration<PointSource, PointTarget>::max_iterations_;
      using Registration<PointSource, PointTarget>::transformation_epsilon_;
      using Registration<PointSource, PointTarget>::transformation_;
      using Registration<PointSource, PointTarget>::previous_transformation_;      
      using Registration<PointSource, PointTarget>::final_transformation_;
      using Registration<PointSource, PointTarget>::update_visualizer_;
      using Registration<PointSource, PointTarget>::indices_;

      Eigen::Vector2f grid_centre_;
      Eigen::Vector2f grid_step_;
      Eigen::Vector2f grid_extent_;
      Eigen::Vector3d newton_lambda_;
  };

} // namespace pcl

#include "pcl/registration/impl/ndt.hpp"

#endif // ndef PCL_NDT_H_