pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > Class Template Reference

TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_dual_quaternion.h>

Inheritance diagram for pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >:

Collaboration diagram for pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >:

Public Types
using	Ptr = shared_ptr< TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > >
using	ConstPtr = shared_ptr< const TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > >
using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4
Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using	Matrix4 = Eigen::Matrix< float, 4, 4 >
using	Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, float > >
using	ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > >

Public Member Functions
	TransformationEstimationDualQuaternion ()=default
	~TransformationEstimationDualQuaternion () override=default
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 quaternion optimization. More...
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_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 quaternion optimization. More...
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization. More...
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization. More...
Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
	TransformationEstimation ()=default
virtual	~TransformationEstimation ()=default
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const=0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const=0
	Estimate a rigid rotation transformation between a source and a target point cloud. More...

Protected Member Functions
void	estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >

TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences.

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.

Author

Sergey Zagoruyko

Definition at line 56 of file transformation_estimation_dual_quaternion.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr< const TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >

Definition at line 61 of file transformation_estimation_dual_quaternion.h.

Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 64 of file transformation_estimation_dual_quaternion.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Ptr = shared_ptr< TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >

Definition at line 59 of file transformation_estimation_dual_quaternion.h.

Constructor & Destructor Documentation

TransformationEstimationDualQuaternion()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::TransformationEstimationDualQuaternion ( )

default

~TransformationEstimationDualQuaternion()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::~TransformationEstimationDualQuaternion ( )

overridedefault

Member Function Documentation

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::Indices &  indices_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, const pcl::Indices &  indices_tgt, Matrix4 &  transformation_matrix  ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[in]	indices_tgt	the vector of indices describing the correspondences of the interest points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 96 of file transformation_estimation_dual_quaternion.hpp.

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::Indices &  indices_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, Matrix4 &  transformation_matrix  ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 75 of file transformation_estimation_dual_quaternion.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, const pcl::Correspondences &  correspondences, Matrix4 &  transformation_matrix  ) const

override

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[in]	correspondences	the vector of correspondences between source and target point cloud
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 119 of file transformation_estimation_dual_quaternion.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src, const pcl::PointCloud< PointTarget > &  cloud_tgt, Matrix4 &  transformation_matrix  ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 53 of file transformation_estimation_dual_quaternion.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( ConstCloudIterator< PointSource > &  source_it, ConstCloudIterator< PointTarget > &  target_it, Matrix4 &  transformation_matrix  ) const

inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters

[in]	source_it	an iterator over the source point cloud dataset
[in]	target_it	an iterator over the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 132 of file transformation_estimation_dual_quaternion.hpp.

References pcl::ConstCloudIterator< PointT >::size().

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The documentation for this class was generated from the following files:

• pcl/registration/transformation_estimation_dual_quaternion.h
• pcl/registration/impl/transformation_estimation_dual_quaternion.hpp