Point Cloud Library (PCL)  1.7.1
transformation_estimation_dq.h
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39 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
40 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
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  typedef boost::shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar> > Ptr;
61  typedef boost::shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar> > ConstPtr;
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 interst 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>
141 
142 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ */
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimation represents the base class for methods for transformation estimation based on...
Iterator class for point clouds with or without given indices.
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
boost::shared_ptr< const TransformationEstimationDQ< 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...