/builddir/build/BUILD/pcl-pcl-1.7.1/registration/include/pcl/registration/transformation_estimation_dq.h
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IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ 00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ 00041 00042 #include <pcl/registration/transformation_estimation.h> 00043 #include <pcl/cloud_iterator.h> 00044 00045 namespace pcl 00046 { 00047 namespace registration 00048 { 00049 /** @b TransformationEstimationDQ implements dual quaternion based estimation of 00050 * the transformation aligning the given correspondences. 00051 * 00052 * \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. 00053 * \author Sergey Zagoruyko 00054 * \ingroup registration 00055 */ 00056 template <typename PointSource, typename PointTarget, typename Scalar = float> 00057 class TransformationEstimationDQ : public TransformationEstimation<PointSource, PointTarget, Scalar> 00058 { 00059 public: 00060 typedef boost::shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar> > Ptr; 00061 typedef boost::shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar> > ConstPtr; 00062 00063 typedef typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 Matrix4; 00064 00065 TransformationEstimationDQ () {}; 00066 virtual ~TransformationEstimationDQ () {}; 00067 00068 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using 00069 * dual quaternion optimization 00070 * \param[in] cloud_src the source point cloud dataset 00071 * \param[in] cloud_tgt the target point cloud dataset 00072 * \param[out] transformation_matrix the resultant transformation matrix 00073 */ 00074 inline void 00075 estimateRigidTransformation ( 00076 const pcl::PointCloud<PointSource> &cloud_src, 00077 const pcl::PointCloud<PointTarget> &cloud_tgt, 00078 Matrix4 &transformation_matrix) const; 00079 00080 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using 00081 * dual quaternion optimization 00082 * \param[in] cloud_src the source point cloud dataset 00083 * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src 00084 * \param[in] cloud_tgt the target point cloud dataset 00085 * \param[out] transformation_matrix the resultant transformation matrix 00086 */ 00087 inline void 00088 estimateRigidTransformation ( 00089 const pcl::PointCloud<PointSource> &cloud_src, 00090 const std::vector<int> &indices_src, 00091 const pcl::PointCloud<PointTarget> &cloud_tgt, 00092 Matrix4 &transformation_matrix) const; 00093 00094 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using 00095 * dual quaternion optimization 00096 * \param[in] cloud_src the source point cloud dataset 00097 * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src 00098 * \param[in] cloud_tgt the target point cloud dataset 00099 * \param[in] indices_tgt the vector of indices describing the correspondences of the interst points from \a indices_src 00100 * \param[out] transformation_matrix the resultant transformation matrix 00101 */ 00102 inline void 00103 estimateRigidTransformation ( 00104 const pcl::PointCloud<PointSource> &cloud_src, 00105 const std::vector<int> &indices_src, 00106 const pcl::PointCloud<PointTarget> &cloud_tgt, 00107 const std::vector<int> &indices_tgt, 00108 Matrix4 &transformation_matrix) const; 00109 00110 /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using 00111 * dual quaternion optimization 00112 * \param[in] cloud_src the source point cloud dataset 00113 * \param[in] cloud_tgt the target point cloud dataset 00114 * \param[in] correspondences the vector of correspondences between source and target point cloud 00115 * \param[out] transformation_matrix the resultant transformation matrix 00116 */ 00117 void 00118 estimateRigidTransformation ( 00119 const pcl::PointCloud<PointSource> &cloud_src, 00120 const pcl::PointCloud<PointTarget> &cloud_tgt, 00121 const pcl::Correspondences &correspondences, 00122 Matrix4 &transformation_matrix) const; 00123 00124 protected: 00125 00126 /** \brief Estimate a rigid rotation transformation between a source and a target 00127 * \param[in] source_it an iterator over the source point cloud dataset 00128 * \param[in] target_it an iterator over the target point cloud dataset 00129 * \param[out] transformation_matrix the resultant transformation matrix 00130 */ 00131 void 00132 estimateRigidTransformation (ConstCloudIterator<PointSource>& source_it, 00133 ConstCloudIterator<PointTarget>& target_it, 00134 Matrix4 &transformation_matrix) const; 00135 }; 00136 00137 } 00138 } 00139 00140 #include <pcl/registration/impl/transformation_estimation_dq.hpp> 00141 00142 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_ */