Point Cloud Library (PCL) 1.12.1
transformation_estimation_svd.h
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40
41#pragma once
42
43#include <pcl/registration/transformation_estimation.h>
44#include <pcl/cloud_iterator.h>
45
46namespace pcl {
47namespace registration {
48/** @b TransformationEstimationSVD implements SVD-based estimation of
49 * the transformation aligning the given correspondences.
50 *
51 * \note The class is templated on the source and target point types as well as on the
52 * output scalar of the transformation matrix (i.e., float or double). Default: float.
53 * \author Dirk Holz, Radu B. Rusu
54 * \ingroup registration
55 */
56template <typename PointSource, typename PointTarget, typename Scalar = float>
58: public TransformationEstimation<PointSource, PointTarget, Scalar> {
59public:
60 using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
61 using ConstPtr =
62 shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
63
64 using Matrix4 =
66
67 /** \brief Constructor
68 * \param[in] use_umeyama Toggles whether or not to use 3rd party software*/
69 TransformationEstimationSVD(bool use_umeyama = true) : use_umeyama_(use_umeyama) {}
70
72
73 /** \brief Estimate a rigid rotation transformation between a source and a target
74 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
75 * \param[in] cloud_tgt the target point cloud dataset
76 * \param[out] transformation_matrix the resultant transformation matrix
77 */
78 inline void
80 const pcl::PointCloud<PointTarget>& cloud_tgt,
81 Matrix4& transformation_matrix) const override;
82
83 /** \brief Estimate a rigid rotation transformation between a source and a target
84 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
85 * \param[in] indices_src the vector of indices describing the points of interest in
86 * \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 override;
95
96 /** \brief Estimate a rigid rotation transformation between a source and a target
97 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
98 * \param[in] indices_src the vector of indices describing the points of interest in
99 * \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 override;
111
112 /** \brief Estimate a rigid rotation transformation between a source and a target
113 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
114 * \param[in] cloud_tgt the target point cloud dataset
115 * \param[in] correspondences the vector of correspondences between source and target
116 * point cloud \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 override;
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 /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src
136 * * tgt' \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen
137 * format \param[in] centroid_src the input source centroid, in Eigen format
138 * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
139 * \param[in] centroid_tgt the input target cloud, in Eigen format
140 * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
141 */
142 virtual void
144 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
145 const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
146 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
147 const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
148 Matrix4& transformation_matrix) const;
149
151};
152
153} // namespace registration
154} // namespace pcl
155
156#include <pcl/registration/impl/transformation_estimation_svd.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimation represents the base class for methods for transformation estimation based on...
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< TransformationEstimationSVD< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimationSVD(bool use_umeyama=true)
Constructor.
virtual void getTransformationFromCorrelation(const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > &centroid_tgt, Matrix4 &transformation_matrix) const
Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
shared_ptr< const TransformationEstimationSVD< PointSource, PointTarget, Scalar > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133