Point Cloud Library (PCL)  1.9.1-dev
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 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** @b TransformationEstimationSVD implements SVD-based estimation of
51  * the transformation aligning the given correspondences.
52  *
53  * \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.
54  * \author Dirk Holz, Radu B. Rusu
55  * \ingroup registration
56  */
57  template <typename PointSource, typename PointTarget, typename Scalar = float>
58  class TransformationEstimationSVD : public TransformationEstimation<PointSource, PointTarget, Scalar>
59  {
60  public:
61  using Ptr = boost::shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> >;
62  using ConstPtr = boost::shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> >;
63 
65 
66  /** \brief Constructor
67  * \param[in] use_umeyama Toggles whether or not to use 3rd party software*/
68  TransformationEstimationSVD (bool use_umeyama=true):
69  use_umeyama_ (use_umeyama)
70  {}
71 
73 
74  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
75  * \param[in] cloud_src the source point cloud dataset
76  * \param[in] cloud_tgt the target point cloud dataset
77  * \param[out] transformation_matrix the resultant transformation matrix
78  */
79  inline void
81  const pcl::PointCloud<PointSource> &cloud_src,
82  const pcl::PointCloud<PointTarget> &cloud_tgt,
83  Matrix4 &transformation_matrix) const override;
84 
85  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
86  * \param[in] cloud_src the source point cloud dataset
87  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
88  * \param[in] cloud_tgt the target point cloud dataset
89  * \param[out] transformation_matrix the resultant transformation matrix
90  */
91  inline void
93  const pcl::PointCloud<PointSource> &cloud_src,
94  const std::vector<int> &indices_src,
95  const pcl::PointCloud<PointTarget> &cloud_tgt,
96  Matrix4 &transformation_matrix) const override;
97 
98  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
99  * \param[in] cloud_src the source point cloud dataset
100  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
101  * \param[in] cloud_tgt the target point cloud dataset
102  * \param[in] indices_tgt the vector of indices describing the correspondences of the interest points from \a indices_src
103  * \param[out] transformation_matrix the resultant transformation matrix
104  */
105  inline void
107  const pcl::PointCloud<PointSource> &cloud_src,
108  const std::vector<int> &indices_src,
109  const pcl::PointCloud<PointTarget> &cloud_tgt,
110  const std::vector<int> &indices_tgt,
111  Matrix4 &transformation_matrix) const override;
112 
113  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
114  * \param[in] cloud_src the source point cloud dataset
115  * \param[in] cloud_tgt the target point cloud dataset
116  * \param[in] correspondences the vector of correspondences between source and target point cloud
117  * \param[out] transformation_matrix the resultant transformation matrix
118  */
119  void
121  const pcl::PointCloud<PointSource> &cloud_src,
122  const pcl::PointCloud<PointTarget> &cloud_tgt,
123  const pcl::Correspondences &correspondences,
124  Matrix4 &transformation_matrix) const override;
125 
126  protected:
127 
128  /** \brief Estimate a rigid rotation transformation between a source and a target
129  * \param[in] source_it an iterator over the source point cloud dataset
130  * \param[in] target_it an iterator over the target point cloud dataset
131  * \param[out] transformation_matrix the resultant transformation matrix
132  */
133  void
136  Matrix4 &transformation_matrix) const;
137 
138  /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'
139  * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format
140  * \param[in] centroid_src the input source centroid, in Eigen format
141  * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
142  * \param[in] centroid_tgt the input target cloud, in Eigen format
143  * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
144  */
145  virtual void
147  const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
148  const Eigen::Matrix<Scalar, 4, 1> &centroid_src,
149  const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
150  const Eigen::Matrix<Scalar, 4, 1> &centroid_tgt,
151  Matrix4 &transformation_matrix) const;
152 
154  };
155 
156  }
157 }
158 
159 #include <pcl/registration/impl/transformation_estimation_svd.hpp>
Iterator class for point clouds with or without given indices.
TransformationEstimationSVD(bool use_umeyama=true)
Constructor.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
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...
boost::shared_ptr< TransformationEstimation< PointT, PointT, Scalar > > Ptr
boost::shared_ptr< const TransformationEstimation< PointT, PointT, Scalar > > ConstPtr
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
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 * tgt&#39;.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
TransformationEstimation represents the base class for methods for transformation estimation based on...