Point Cloud Library (PCL) 1.13.1
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transformation_estimation_dq.h
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39
40#pragma once
41
42#include <pcl/registration/transformation_estimation.h>
43#include <pcl/cloud_iterator.h>
45 15,
46 "TransformationEstimationDQ has been renamed to "
47 "TransformationEstimationDualQuaternion.");
48
49namespace pcl {
50namespace registration {
51/** @b TransformationEstimationDQ implements dual quaternion based estimation of
52 * the transformation aligning the given correspondences.
53 *
54 * \note The class is templated on the source and target point types as well as on the
55 * output scalar of the transformation matrix (i.e., float or double). Default: float.
56 * \author Sergey Zagoruyko
57 * \ingroup registration
58 */
59template <typename PointSource, typename PointTarget, typename Scalar = float>
61: public TransformationEstimation<PointSource, PointTarget, Scalar> {
62public:
63 using Ptr = shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
64 using ConstPtr =
65 shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
66
67 using Matrix4 =
69
71
72 /** \brief Estimate a rigid rotation transformation between a source and a target
73 * point cloud using dual quaternion optimization \param[in] cloud_src the source
74 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out]
75 * transformation_matrix the resultant transformation matrix
76 */
77 inline void
79 const pcl::PointCloud<PointTarget>& cloud_tgt,
80 Matrix4& transformation_matrix) const;
81
82 /** \brief Estimate a rigid rotation transformation between a source and a target
83 * point cloud using dual quaternion optimization \param[in] cloud_src the source
84 * point cloud dataset \param[in] indices_src the vector of indices describing the
85 * points of interest in \a cloud_src
86 * \param[in] cloud_tgt the target point cloud dataset
87 * \param[out] transformation_matrix the resultant transformation matrix
88 */
89 inline void
91 const pcl::Indices& indices_src,
92 const pcl::PointCloud<PointTarget>& cloud_tgt,
93 Matrix4& transformation_matrix) const;
94
95 /** \brief Estimate a rigid rotation transformation between a source and a target
96 * point cloud using dual quaternion optimization \param[in] cloud_src the source
97 * point cloud dataset \param[in] indices_src the vector of indices describing the
98 * points of interest in \a cloud_src
99 * \param[in] cloud_tgt the target point cloud dataset
100 * \param[in] indices_tgt the vector of indices describing the correspondences of the
101 * interest points from \a indices_src
102 * \param[out] transformation_matrix the resultant transformation matrix
103 */
104 inline void
106 const pcl::Indices& indices_src,
107 const pcl::PointCloud<PointTarget>& cloud_tgt,
108 const pcl::Indices& indices_tgt,
109 Matrix4& transformation_matrix) const;
110
111 /** \brief Estimate a rigid rotation transformation between a source and a target
112 * point cloud using dual quaternion optimization \param[in] cloud_src the source
113 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in]
114 * correspondences the vector of correspondences between source and target point cloud
115 * \param[out] transformation_matrix the resultant transformation matrix
116 */
117 void
119 const pcl::PointCloud<PointTarget>& cloud_tgt,
120 const pcl::Correspondences& correspondences,
121 Matrix4& transformation_matrix) const;
122
123protected:
124 /** \brief Estimate a rigid rotation transformation between a source and a target
125 * \param[in] source_it an iterator over the source point cloud dataset
126 * \param[in] target_it an iterator over the target point cloud dataset
127 * \param[out] transformation_matrix the resultant transformation matrix
128 */
129 void
132 Matrix4& transformation_matrix) const;
133};
134
135} // namespace registration
136} // namespace pcl
137
138#include <pcl/registration/impl/transformation_estimation_dq.hpp>
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > > ConstPtr
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...
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
#define PCL_DEPRECATED_HEADER(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated headers for the Major....
Definition pcl_macros.h:176