Point Cloud Library (PCL) 1.13.1
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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.
PointCloud represents the base class in PCL for storing collections of 3D points.
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