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TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_dq.h>

Public Types

using Ptr = shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > >
using ConstPtr = shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > >
using Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4
- Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using Matrix4 = Eigen::Matrix< float, 4, 4 >
using Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, float > >
using ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > >

Public Member Functions

TransformationEstimationDQ ()
virtual ~TransformationEstimationDQ ()
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 quaternion optimization. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_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 quaternion optimization. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization. More...
void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization. More...
- Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
TransformationEstimation ()
virtual ~TransformationEstimation ()
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const=0
Estimate a rigid rotation transformation between a source and a target point cloud. More...
virtual void estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const=0
Estimate a rigid rotation transformation between a source and a target point cloud. More...

Protected Member Functions

void estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >

TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning the given correspondences.

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.
Author
Sergey Zagoruyko

Definition at line 60 of file transformation_estimation_dq.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar> >

Definition at line 65 of file transformation_estimation_dq.h.

Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 68 of file transformation_estimation_dq.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>
using pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar> >

Definition at line 63 of file transformation_estimation_dq.h.

Constructor & Destructor Documentation

TransformationEstimationDQ()

template<typename PointSource , typename PointTarget , typename Scalar = float>
pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::TransformationEstimationDQ ( )
inline

Definition at line 70 of file transformation_estimation_dq.h.

~TransformationEstimationDQ()

template<typename PointSource , typename PointTarget , typename Scalar = float>
virtual pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::~TransformationEstimationDQ ( )
inlinevirtual

Definition at line 71 of file transformation_estimation_dq.h.

Member Function Documentation

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Indices & indices_tgt,
Matrix4 & transformation_matrix
) const
inline

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters
[in] cloud_src the source point cloud dataset
[in] indices_src the vector of indices describing the points of interest in cloud_src
[in] cloud_tgt the target point cloud dataset
[in] indices_tgt the vector of indices describing the correspondences of the interest points from indices_src
[out] transformation_matrix the resultant transformation matrix

Definition at line 98 of file transformation_estimation_dq.hpp.

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::Indices & indices_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inline

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters
[in] cloud_src the source point cloud dataset
[in] indices_src the vector of indices describing the points of interest in cloud_src
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Definition at line 77 of file transformation_estimation_dq.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
const pcl::Correspondences & correspondences,
Matrix4 & transformation_matrix
) const

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters
[in] cloud_src the source point cloud dataset
[in] cloud_tgt the target point cloud dataset
[in] correspondences the vector of correspondences between source and target point cloud
[out] transformation_matrix the resultant transformation matrix

Definition at line 120 of file transformation_estimation_dq.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > & cloud_src,
const pcl::PointCloud< PointTarget > & cloud_tgt,
Matrix4 & transformation_matrix
) const
inline

Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.

Parameters
[in] cloud_src the source point cloud dataset
[in] cloud_tgt the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Definition at line 56 of file transformation_estimation_dq.hpp.

References pcl::PointCloud< PointT >::size().

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >
void pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( ConstCloudIterator< PointSource > & source_it,
ConstCloudIterator< PointTarget > & target_it,
Matrix4 & transformation_matrix
) const
inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters
[in] source_it an iterator over the source point cloud dataset
[in] target_it an iterator over the target point cloud dataset
[out] transformation_matrix the resultant transformation matrix

Definition at line 133 of file transformation_estimation_dq.hpp.

References pcl::ConstCloudIterator< PointT >::size().

The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation_d_q.html