Point Cloud Library (PCL)  1.11.1-dev
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 
45 namespace pcl {
46 namespace 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  */
55 template <typename PointSource, typename PointTarget, typename Scalar = float>
57 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
58 public:
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 
121 protected:
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>
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimationDualQuaternion::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_dual_quaternion.h:65
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:64
pcl::registration::TransformationEstimationDualQuaternion::estimateRigidTransformation
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...
Definition: transformation_estimation_dual_quaternion.hpp:54
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationDualQuaternion::ConstPtr
shared_ptr< const TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_dual_quaternion.h:62
pcl::registration::TransformationEstimationDualQuaternion
TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformat...
Definition: transformation_estimation_dual_quaternion.h:56
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:131
pcl::registration::TransformationEstimationDualQuaternion::~TransformationEstimationDualQuaternion
~TransformationEstimationDualQuaternion()
Definition: transformation_estimation_dual_quaternion.h:68
pcl::registration::TransformationEstimationDualQuaternion::TransformationEstimationDualQuaternion
TransformationEstimationDualQuaternion()
Definition: transformation_estimation_dual_quaternion.h:67
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:120
pcl::registration::TransformationEstimationDualQuaternion::Ptr
shared_ptr< TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_dual_quaternion.h:60
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::registration::TransformationEstimation
TransformationEstimation represents the base class for methods for transformation estimation based on...
Definition: transformation_estimation.h:62