Point Cloud Library (PCL) 1.12.1
transformation_estimation_dual_quaternion.h
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39
40#pragma once
41
42#include <pcl/registration/transformation_estimation.h>
43#include <pcl/cloud_iterator.h>
44
45namespace pcl {
46namespace registration {
47/** @b TransformationEstimationDualQuaternion implements dual quaternion based
48 * estimation of the transformation aligning the given correspondences.
49 *
50 * \note The class is templated on the source and target point types as well as on the
51 * output scalar of the transformation matrix (i.e., float or double). Default: float.
52 * \author Sergey Zagoruyko
53 * \ingroup registration
54 */
55template <typename PointSource, typename PointTarget, typename Scalar = float>
57: public TransformationEstimation<PointSource, PointTarget, Scalar> {
58public:
59 using Ptr = shared_ptr<
61 using ConstPtr = shared_ptr<
63
64 using Matrix4 =
66
69
70 /** \brief Estimate a rigid rotation transformation between a source and a target
71 * point cloud using dual quaternion optimization \param[in] cloud_src the source
72 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out]
73 * transformation_matrix the resultant transformation matrix
74 */
75 inline void
77 const pcl::PointCloud<PointTarget>& cloud_tgt,
78 Matrix4& transformation_matrix) const override;
79
80 /** \brief Estimate a rigid rotation transformation between a source and a target
81 * point cloud using dual quaternion optimization \param[in] cloud_src the source
82 * point cloud dataset \param[in] indices_src the vector of indices describing the
83 * points of interest in \a cloud_src
84 * \param[in] cloud_tgt the target point cloud dataset
85 * \param[out] transformation_matrix the resultant transformation matrix
86 */
87 inline void
89 const pcl::Indices& indices_src,
90 const pcl::PointCloud<PointTarget>& cloud_tgt,
91 Matrix4& transformation_matrix) const override;
92
93 /** \brief Estimate a rigid rotation transformation between a source and a target
94 * point cloud using dual quaternion optimization \param[in] cloud_src the source
95 * point cloud dataset \param[in] indices_src the vector of indices describing the
96 * points of interest in \a cloud_src
97 * \param[in] cloud_tgt the target point cloud dataset
98 * \param[in] indices_tgt the vector of indices describing the correspondences of the
99 * interest points from \a indices_src
100 * \param[out] transformation_matrix the resultant transformation matrix
101 */
102 inline void
104 const pcl::Indices& indices_src,
105 const pcl::PointCloud<PointTarget>& cloud_tgt,
106 const pcl::Indices& indices_tgt,
107 Matrix4& transformation_matrix) const override;
108
109 /** \brief Estimate a rigid rotation transformation between a source and a target
110 * point cloud using dual quaternion optimization \param[in] cloud_src the source
111 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in]
112 * correspondences the vector of correspondences between source and target point cloud
113 * \param[out] transformation_matrix the resultant transformation matrix
114 */
115 void
117 const pcl::PointCloud<PointTarget>& cloud_tgt,
118 const pcl::Correspondences& correspondences,
119 Matrix4& transformation_matrix) const override;
120
121protected:
122 /** \brief Estimate a rigid rotation transformation between a source and a target
123 * \param[in] source_it an iterator over the source point cloud dataset
124 * \param[in] target_it an iterator over the target point cloud dataset
125 * \param[out] transformation_matrix the resultant transformation matrix
126 */
127 void
130 Matrix4& transformation_matrix) const;
131};
132
133} // namespace registration
134} // namespace pcl
135
136#include <pcl/registration/impl/transformation_estimation_dual_quaternion.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformat...
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...
shared_ptr< const TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > ConstPtr
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimation represents the base class for methods for transformation estimation based on...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133