Point Cloud Library (PCL) 1.12.1
transformation_estimation_dq.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 *
38 */
39
40#pragma once
41
42#include <pcl/registration/transformation_estimation.h>
43#include <pcl/cloud_iterator.h>
45 15,
46 "TransformationEstimationDQ has been renamed to "
47 "TransformationEstimationDualQuaternion.");
48
49namespace pcl {
50namespace registration {
51/** @b TransformationEstimationDQ implements dual quaternion based estimation of
52 * the transformation aligning the given correspondences.
53 *
54 * \note The class is templated on the source and target point types as well as on the
55 * output scalar of the transformation matrix (i.e., float or double). Default: float.
56 * \author Sergey Zagoruyko
57 * \ingroup registration
58 */
59template <typename PointSource, typename PointTarget, typename Scalar = float>
61: public TransformationEstimation<PointSource, PointTarget, Scalar> {
62public:
63 using Ptr = shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
64 using ConstPtr =
65 shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar>>;
66
67 using Matrix4 =
69
72
73 /** \brief Estimate a rigid rotation transformation between a source and a target
74 * point cloud using dual quaternion optimization \param[in] cloud_src the source
75 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out]
76 * transformation_matrix the resultant transformation matrix
77 */
78 inline void
80 const pcl::PointCloud<PointTarget>& cloud_tgt,
81 Matrix4& transformation_matrix) const;
82
83 /** \brief Estimate a rigid rotation transformation between a source and a target
84 * point cloud using dual quaternion optimization \param[in] cloud_src the source
85 * point cloud dataset \param[in] indices_src the vector of indices describing the
86 * points of interest in \a cloud_src
87 * \param[in] cloud_tgt the target point cloud dataset
88 * \param[out] transformation_matrix the resultant transformation matrix
89 */
90 inline void
92 const pcl::Indices& indices_src,
93 const pcl::PointCloud<PointTarget>& cloud_tgt,
94 Matrix4& transformation_matrix) const;
95
96 /** \brief Estimate a rigid rotation transformation between a source and a target
97 * point cloud using dual quaternion optimization \param[in] cloud_src the source
98 * point cloud dataset \param[in] indices_src the vector of indices describing the
99 * points of interest in \a cloud_src
100 * \param[in] cloud_tgt the target point cloud dataset
101 * \param[in] indices_tgt the vector of indices describing the correspondences of the
102 * interest points from \a indices_src
103 * \param[out] transformation_matrix the resultant transformation matrix
104 */
105 inline void
107 const pcl::Indices& indices_src,
108 const pcl::PointCloud<PointTarget>& cloud_tgt,
109 const pcl::Indices& indices_tgt,
110 Matrix4& transformation_matrix) const;
111
112 /** \brief Estimate a rigid rotation transformation between a source and a target
113 * point cloud using dual quaternion optimization \param[in] cloud_src the source
114 * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in]
115 * correspondences the vector of correspondences between source and target point cloud
116 * \param[out] transformation_matrix the resultant transformation matrix
117 */
118 void
120 const pcl::PointCloud<PointTarget>& cloud_tgt,
121 const pcl::Correspondences& correspondences,
122 Matrix4& transformation_matrix) const;
123
124protected:
125 /** \brief Estimate a rigid rotation transformation between a source and a target
126 * \param[in] source_it an iterator over the source point cloud dataset
127 * \param[in] target_it an iterator over the target point cloud dataset
128 * \param[out] transformation_matrix the resultant transformation matrix
129 */
130 void
133 Matrix4& transformation_matrix) const;
134};
135
136} // namespace registration
137} // namespace pcl
138
139#include <pcl/registration/impl/transformation_estimation_dq.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > > ConstPtr
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
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 quatern...
TransformationEstimation represents the base class for methods for transformation estimation based on...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define PCL_DEPRECATED_HEADER(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated headers for the Major....
Definition: pcl_macros.h:176