Point Cloud Library (PCL) 1.12.0
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TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_dual_quaternion.h>
Public Types | |
using | Ptr |
using | ConstPtr |
using | Matrix4 |
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using | Matrix4 = Eigen::Matrix<Scalar, 4, 4> |
using | Ptr = shared_ptr<TransformationEstimation<PointSource, PointTarget, Scalar>> |
using | ConstPtr |
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. | |
TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences.
Definition at line 56 of file transformation_estimation_dual_quaternion.h.
using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::ConstPtr |
Definition at line 61 of file transformation_estimation_dual_quaternion.h.
using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Matrix4 |
Definition at line 64 of file transformation_estimation_dual_quaternion.h.
using pcl::registration::TransformationEstimationDualQuaternion< PointSource, PointTarget, Scalar >::Ptr |
Definition at line 59 of file transformation_estimation_dual_quaternion.h.
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inline |
Definition at line 67 of file transformation_estimation_dual_quaternion.h.
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inline |
Definition at line 68 of file transformation_estimation_dual_quaternion.h.
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inlineoverridevirtual |
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 96 of file transformation_estimation_dual_quaternion.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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inlineoverridevirtual |
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 75 of file transformation_estimation_dual_quaternion.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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overridevirtual |
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 119 of file transformation_estimation_dual_quaternion.hpp.
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inlineoverridevirtual |
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 53 of file transformation_estimation_dual_quaternion.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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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 132 of file transformation_estimation_dual_quaternion.hpp.
References pcl::ConstCloudIterator< PointT >::size().