39 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
40 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_H_
42 #include <pcl/registration/transformation_estimation.h>
43 #include <pcl/cloud_iterator.h>
47 namespace registration
56 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar =
float>
60 typedef boost::shared_ptr<TransformationEstimationDQ<PointSource, PointTarget, Scalar> >
Ptr;
61 typedef boost::shared_ptr<const TransformationEstimationDQ<PointSource, PointTarget, Scalar> >
ConstPtr;
78 Matrix4 &transformation_matrix)
const;
90 const std::vector<int> &indices_src,
92 Matrix4 &transformation_matrix)
const;
105 const std::vector<int> &indices_src,
107 const std::vector<int> &indices_tgt,
108 Matrix4 &transformation_matrix)
const;
122 Matrix4 &transformation_matrix)
const;
134 Matrix4 &transformation_matrix)
const;
140 #include <pcl/registration/impl/transformation_estimation_dq.hpp>
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
boost::shared_ptr< TransformationEstimationDQ< PointSource, PointTarget, Scalar > > Ptr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
TransformationEstimation represents the base class for methods for transformation estimation based on...
Iterator class for point clouds with or without given indices.
TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning...
virtual ~TransformationEstimationDQ()
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
boost::shared_ptr< const TransformationEstimationDQ< PointSource, PointTarget, Scalar > > ConstPtr
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 quatern...