Point Cloud Library (PCL)
1.9.1
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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 | |
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 |
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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... | |
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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... | |
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning the given correspondences.
Definition at line 57 of file transformation_estimation_dq.h.
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.
typedef TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimationDQ< PointSource, PointTarget, Scalar >::Matrix4 |
Definition at line 63 of file transformation_estimation_dq.h.
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.
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inline |
Definition at line 65 of file transformation_estimation_dq.h.
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inlinevirtual |
Definition at line 66 of file transformation_estimation_dq.h.
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inlinevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.
[in] | cloud_src | the source point cloud dataset |
[in] | cloud_tgt | the target point cloud dataset |
[out] | transformation_matrix | the resultant transformation matrix |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 46 of file transformation_estimation_dq.hpp.
References pcl::PointCloud< PointT >::points.
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inlinevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.
[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 |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 65 of file transformation_estimation_dq.hpp.
References pcl::PointCloud< PointT >::points.
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inlinevirtual |
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.
[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 |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 84 of file transformation_estimation_dq.hpp.
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virtual |
Estimate a rigid rotation transformation between a source and a target point cloud using dual quaternion optimization.
[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 |
Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.
Definition at line 104 of file transformation_estimation_dq.hpp.
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inlineprotected |
Estimate a rigid rotation transformation between a source and a target.
[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 117 of file transformation_estimation_dq.hpp.
References pcl::ConstCloudIterator< PointT >::size().