39 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
40 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
42 #include <pcl/registration/transformation_estimation.h>
43 #include <pcl/cloud_iterator.h>
47 namespace registration
56 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
60 typedef boost::shared_ptr<TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >
Ptr;
61 typedef boost::shared_ptr<const TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >
ConstPtr;
78 Matrix4 &transformation_matrix)
const;
90 const std::vector<int> &indices_src,
92 Matrix4 &transformation_matrix)
const;
105 const std::vector<int> &indices_src,
107 const std::vector<int> &indices_tgt,
108 Matrix4 &transformation_matrix)
const;
122 Matrix4 &transformation_matrix)
const;
134 Matrix4 &transformation_matrix)
const;
140 #include <pcl/registration/impl/transformation_estimation_dual_quaternion.hpp>
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > Ptr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimation represents the base class for methods for transformation estimation based on...
virtual ~TransformationEstimationDualQuaternion()
boost::shared_ptr< const TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > > ConstPtr
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...
TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformat...
Iterator class for point clouds with or without given indices.
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
TransformationEstimationDualQuaternion()