Point Cloud Library (PCL)  1.8.1-dev
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pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar > Class Template Reference

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

#include <pcl/registration/transformation_estimation_dq.h>

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

Public Types

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

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 std::vector< int > &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 std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &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, Scalar >
 TransformationEstimation ()
 
virtual ~TransformationEstimation ()
 

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 57 of file transformation_estimation_dq.h.

Member Typedef Documentation

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

Definition at line 61 of file transformation_estimation_dq.h.

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

Definition at line 63 of file transformation_estimation_dq.h.

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

Definition at line 60 of file transformation_estimation_dq.h.

Constructor & Destructor Documentation

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

Definition at line 65 of file transformation_estimation_dq.h.

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

Definition at line 66 of file transformation_estimation_dq.h.

Member Function Documentation

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
inlinevirtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 46 of file transformation_estimation_dq.hpp.

References pcl::PointCloud< T >::points.

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

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 65 of file transformation_estimation_dq.hpp.

References pcl::PointCloud< T >::points.

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

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 interst points from indices_src
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 84 of file transformation_estimation_dq.hpp.

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
virtual

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

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 104 of file transformation_estimation_dq.hpp.

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_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 117 of file transformation_estimation_dq.hpp.

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


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