Point Cloud Library (PCL)  1.14.1-dev
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 
49 namespace pcl {
50 namespace 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  */
59 template <typename PointSource, typename PointTarget, typename Scalar = float>
61 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
62 public:
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 
123 protected:
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