transformation_estimation_point_to_plane.h

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 * $Id: transformation_estimation_point_to_plane.h 3217 2011-11-21 10:42:11Z mdixon $
 *
 */
#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_

#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/transformation_estimation_lm.h>
#include <pcl/registration/warp_point_rigid.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget>
    class TransformationEstimationPointToPlane : public TransformationEstimationLM<PointSource, PointTarget>
    {
      public:
        typedef boost::shared_ptr<TransformationEstimationPointToPlane<PointSource, PointTarget> > Ptr;
        typedef pcl::PointCloud<PointSource> PointCloudSource;
        typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
        typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
        typedef pcl::PointCloud<PointTarget> PointCloudTarget;
        typedef PointIndices::Ptr PointIndicesPtr;
        typedef PointIndices::ConstPtr PointIndicesConstPtr;


        TransformationEstimationPointToPlane () {};
        virtual ~TransformationEstimationPointToPlane () {};

      protected:
        virtual double
        computeDistance (const PointSource &p_src, const PointTarget &p_tgt)
        { 
          // Compute the point-to-plane distance
          Vector4fMapConst s = p_src.getVector4fMap ();
          Vector4fMapConst t = p_tgt.getVector4fMap ();
          Vector4fMapConst n = p_tgt.getNormalVector4fMap ();
          return ((s - t).dot (n));
        }

    };
  }
}

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_H_ */