transformation_estimation_dual_quaternion.h

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#pragma once
 
#include <pcl/registration/transformation_estimation.h>
#include <pcl/cloud_iterator.h>
 
namespace pcl {
namespace registration {
/** @b 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.
 * \author Sergey Zagoruyko
 * \ingroup registration
 */
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationDualQuaternion
: public TransformationEstimation<PointSource, PointTarget, Scalar> {
public:
  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;
 
  TransformationEstimationDualQuaternion() = default;
  ~TransformationEstimationDualQuaternion() override = default;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using dual quaternion optimization \param[in] cloud_src the source
   * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out]
   * transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const override;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using dual quaternion optimization \param[in] cloud_src the source
   * point cloud dataset \param[in] indices_src the vector of indices describing the
   * points of interest in \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  inline void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::Indices& indices_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              Matrix4& transformation_matrix) const override;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using dual quaternion optimization \param[in] cloud_src the source
   * point cloud dataset \param[in] indices_src the vector of indices describing the
   * points of interest in \a cloud_src
   * \param[in] cloud_tgt the target point cloud dataset
   * \param[in] indices_tgt the vector of indices describing the correspondences of the
   * interest points from \a indices_src
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  inline 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;
 
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * point cloud using dual quaternion optimization \param[in] cloud_src the source
   * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in]
   * correspondences the vector of correspondences between source and target point cloud
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  void
  estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
                              const pcl::PointCloud<PointTarget>& cloud_tgt,
                              const pcl::Correspondences& correspondences,
                              Matrix4& transformation_matrix) const override;
 
protected:
  /** \brief Estimate a rigid rotation transformation between a source and a target
   * \param[in] source_it an iterator over the source point cloud dataset
   * \param[in] target_it an iterator over the target point cloud dataset
   * \param[out] transformation_matrix the resultant transformation matrix
   */
  void
  estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
                              ConstCloudIterator<PointTarget>& target_it,
                              Matrix4& transformation_matrix) const;
};
 
} // namespace registration
} // namespace pcl
 
#include <pcl/registration/impl/transformation_estimation_dual_quaternion.hpp>