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

#include <pcl/registration/transformation_estimation_dual_quaternion.h>

Public Types
using	Ptr = shared_ptr< TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationDualQuaternion< 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
	TransformationEstimationDualQuaternion ()

	~TransformationEstimationDualQuaternion ()

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
	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 override
	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 override
	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 override
	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::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >

TransformationEstimationDualQuaternion 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 56 of file transformation_estimation_dual_quaternion.h.

Member Typedef Documentation

ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr< const TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >

Definition at line 62 of file transformation_estimation_dual_quaternion.h.

Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 65 of file transformation_estimation_dual_quaternion.h.

Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Ptr = shared_ptr< TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar> >

Definition at line 60 of file transformation_estimation_dual_quaternion.h.

Constructor & Destructor Documentation

TransformationEstimationDualQuaternion()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::TransformationEstimationDualQuaternion ( )

inline

Definition at line 67 of file transformation_estimation_dual_quaternion.h.

~TransformationEstimationDualQuaternion()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::~TransformationEstimationDualQuaternion ( )

inline

Definition at line 68 of file transformation_estimation_dual_quaternion.h.

Member Function Documentation

estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< 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

inlineoverride

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 97 of file transformation_estimation_dual_quaternion.hpp.

estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< 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

inlineoverride

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 76 of file transformation_estimation_dual_quaternion.hpp.

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

estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >

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

override

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_dual_quaternion.hpp.

estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >

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

inlineoverride

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 54 of file transformation_estimation_dual_quaternion.hpp.

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

estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationDualQuaternion< 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