TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_dual_quaternion.h>
Public Types |
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| 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 > |
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| 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 |
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| 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... |
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| 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... |
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| 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... |
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| 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... |
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| Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > |
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| 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... |
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| 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... |
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| 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 |
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| 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.
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>
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inline |
Definition at line 67 of file transformation_estimation_dual_quaternion.h.
~TransformationEstimationDualQuaternion()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
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 >
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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 >
|
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 >
|
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 >
|
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 >
|
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_dual_quaternion.hpp.
References pcl::ConstCloudIterator< PointT >::size().
The documentation for this class was generated from the following files:
- pcl/registration/transformation_estimation_dual_quaternion.h
- pcl/registration/impl/transformation_estimation_dual_quaternion.hpp
© 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_dual_quaternion.html
