Point Cloud Library (PCL)  1.11.0
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>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** @b TransformationEstimationDQ implements dual quaternion based estimation of
50  * the transformation aligning the given correspondences.
51  *
52  * \note The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
53  * \author Sergey Zagoruyko
54  * \ingroup registration
55  */
56  template <typename PointSource, typename PointTarget, typename Scalar = float>
57  class TransformationEstimationDQ : public TransformationEstimation<PointSource, PointTarget, Scalar>
58  {
59  public:
60  using Ptr = shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar> >;
61  using ConstPtr = shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar> >;
62 
64 
67 
68  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using
69  * dual quaternion optimization
70  * \param[in] cloud_src the source point cloud dataset
71  * \param[in] cloud_tgt the target point cloud dataset
72  * \param[out] transformation_matrix the resultant transformation matrix
73  */
74  inline void
76  const pcl::PointCloud<PointSource> &cloud_src,
77  const pcl::PointCloud<PointTarget> &cloud_tgt,
78  Matrix4 &transformation_matrix) const;
79 
80  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using
81  * dual quaternion optimization
82  * \param[in] cloud_src the source point cloud dataset
83  * \param[in] indices_src the vector of indices describing the 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::PointCloud<PointSource> &cloud_src,
90  const std::vector<int> &indices_src,
91  const pcl::PointCloud<PointTarget> &cloud_tgt,
92  Matrix4 &transformation_matrix) const;
93 
94  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using
95  * dual quaternion optimization
96  * \param[in] cloud_src the source point cloud dataset
97  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
98  * \param[in] cloud_tgt the target point cloud dataset
99  * \param[in] indices_tgt the vector of indices describing the correspondences of the interest points from \a indices_src
100  * \param[out] transformation_matrix the resultant transformation matrix
101  */
102  inline void
104  const pcl::PointCloud<PointSource> &cloud_src,
105  const std::vector<int> &indices_src,
106  const pcl::PointCloud<PointTarget> &cloud_tgt,
107  const std::vector<int> &indices_tgt,
108  Matrix4 &transformation_matrix) const;
109 
110  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using
111  * dual quaternion optimization
112  * \param[in] cloud_src the source point cloud dataset
113  * \param[in] cloud_tgt the target point cloud dataset
114  * \param[in] 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<PointSource> &cloud_src,
120  const pcl::PointCloud<PointTarget> &cloud_tgt,
121  const pcl::Correspondences &correspondences,
122  Matrix4 &transformation_matrix) const;
123 
124  protected:
125 
126  /** \brief Estimate a rigid rotation transformation between a source and a target
127  * \param[in] source_it an iterator over the source point cloud dataset
128  * \param[in] target_it an iterator over the target point cloud dataset
129  * \param[out] transformation_matrix the resultant transformation matrix
130  */
131  void
134  Matrix4 &transformation_matrix) const;
135  };
136 
137  }
138 }
139 
140 #include <pcl/registration/impl/transformation_estimation_dq.hpp>
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimationDQ::Ptr
shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_dq.h:60
pcl::registration::TransformationEstimationDQ::estimateRigidTransformation
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...
Definition: transformation_estimation_dq.hpp:53
pcl::registration::TransformationEstimationDQ::TransformationEstimationDQ
TransformationEstimationDQ()
Definition: transformation_estimation_dq.h:65
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:65
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationDQ::ConstPtr
shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_dq.h:61
pcl::registration::TransformationEstimationDQ::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_dq.h:63
pcl::registration::TransformationEstimationDQ
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
Definition: transformation_estimation_dq.h:58
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:121
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::TransformationEstimationDQ::~TransformationEstimationDQ
virtual ~TransformationEstimationDQ()
Definition: transformation_estimation_dq.h:66
pcl::registration::TransformationEstimation
TransformationEstimation represents the base class for methods for transformation estimation based on...
Definition: transformation_estimation.h:63