Point Cloud Library (PCL) 1.15.1
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List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar > Class Template Reference
Module registration

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

#include <pcl/registration/transformation_estimation_dual_quaternion.h>

Inheritance diagram for pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >:

Public Types

using Ptr
using ConstPtr
using Matrix4
Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using Matrix4
using Ptr
using ConstPtr

Public Member Functions

 TransformationEstimationDualQuaternion ()=default
 ~TransformationEstimationDualQuaternion () override=default
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.
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.
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.
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.
Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
 TransformationEstimation ()=default
virtual ~TransformationEstimation ()=default
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.

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.

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
Initial value:
shared_ptr<
const TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>>

Definition at line 61 of file transformation_estimation_dual_quaternion.h.

◆ Matrix4

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

Definition at line 64 of file transformation_estimation_dual_quaternion.h.

◆ Ptr

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

Definition at line 59 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 ( )
default

◆ ~TransformationEstimationDualQuaternion()

template<typename PointSource, typename PointTarget, typename Scalar = float>
pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::~TransformationEstimationDualQuaternion ( )
overridedefault

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_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interest points from indices_src
[out]transformation_matrixthe resultant transformation matrix

Definition at line 96 of file transformation_estimation_dual_quaternion.hpp.

References estimateRigidTransformation().

◆ 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_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Definition at line 75 of file transformation_estimation_dual_quaternion.hpp.

References estimateRigidTransformation(), and 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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe resultant transformation matrix

Definition at line 119 of file transformation_estimation_dual_quaternion.hpp.

References estimateRigidTransformation().

◆ 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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Definition at line 53 of file transformation_estimation_dual_quaternion.hpp.

References estimateRigidTransformation(), and pcl::PointCloud< PointT >::size().

Referenced by estimateRigidTransformation(), estimateRigidTransformation(), estimateRigidTransformation(), and estimateRigidTransformation().

◆ 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_itan iterator over the source point cloud dataset
[in]target_itan iterator over the target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Definition at line 132 of file transformation_estimation_dual_quaternion.hpp.

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

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