Point Cloud Library (PCL) 1.13.0
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>
45 15,
46 "TransformationEstimationDQ has been renamed to "
47 "TransformationEstimationDualQuaternion.");
48
49namespace pcl {
50namespace registration {
51/** @b TransformationEstimationDQ implements dual quaternion based estimation of
52 * the transformation aligning the given correspondences.
53 *
54 * \note The class is templated on the source and target point types as well as on the
55 * output scalar of the transformation matrix (i.e., float or double). Default: float.
56 * \author Sergey Zagoruyko
57 * \ingroup registration
58 */
59template <typename PointSource, typename PointTarget, typename Scalar = float>
61: public TransformationEstimation<PointSource, PointTarget, Scalar> {
62public:
63 using Ptr = shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
64 using ConstPtr =
65 shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
66
67 using Matrix4 =
69
71
72 /** \brief Estimate a rigid rotation transformation between a source and a target
73 * point cloud using dual quaternion optimization \param[in] cloud_src the source
74 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out]
75 * transformation_matrix the resultant transformation matrix
76 */
77 inline void
79 const pcl::PointCloud<PointTarget>& cloud_tgt,
80 Matrix4& transformation_matrix) const;
81
82 /** \brief Estimate a rigid rotation transformation between a source and a target
83 * point cloud using dual quaternion optimization \param[in] cloud_src the source
84 * point cloud dataset \param[in] indices_src the vector of indices describing the
85 * points of interest in \a cloud_src
86 * \param[in] cloud_tgt the target point cloud dataset
87 * \param[out] transformation_matrix the resultant transformation matrix
88 */
89 inline void
91 const pcl::Indices& indices_src,
92 const pcl::PointCloud<PointTarget>& cloud_tgt,
93 Matrix4& transformation_matrix) const;
94
95 /** \brief Estimate a rigid rotation transformation between a source and a target
96 * point cloud using dual quaternion optimization \param[in] cloud_src the source
97 * point cloud dataset \param[in] indices_src the vector of indices describing the
98 * points of interest in \a cloud_src
99 * \param[in] cloud_tgt the target point cloud dataset
100 * \param[in] indices_tgt the vector of indices describing the correspondences of the
101 * interest points from \a indices_src
102 * \param[out] transformation_matrix the resultant transformation matrix
103 */
104 inline void
106 const pcl::Indices& indices_src,
107 const pcl::PointCloud<PointTarget>& cloud_tgt,
108 const pcl::Indices& indices_tgt,
109 Matrix4& transformation_matrix) const;
110
111 /** \brief Estimate a rigid rotation transformation between a source and a target
112 * point cloud using dual quaternion optimization \param[in] cloud_src the source
113 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in]
114 * 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<PointTarget>& cloud_tgt,
120 const pcl::Correspondences& correspondences,
121 Matrix4& transformation_matrix) const;
122
123protected:
124 /** \brief Estimate a rigid rotation transformation between a source and a target
125 * \param[in] source_it an iterator over the source point cloud dataset
126 * \param[in] target_it an iterator over the target point cloud dataset
127 * \param[out] transformation_matrix the resultant transformation matrix
128 */
129 void
132 Matrix4& transformation_matrix) const;
133};
134
135} // namespace registration
136} // namespace pcl
137
138#include <pcl/registration/impl/transformation_estimation_dq.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > > ConstPtr
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
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...
TransformationEstimation represents the base class for methods for transformation estimation based on...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define PCL_DEPRECATED_HEADER(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated headers for the Major....
Definition: pcl_macros.h:176