TransformationEstimationPointToPointRobust implements SVD-based estimation of the transformation aligning the given correspondences for minimizing the Welsch function instead of L2-norm, For additional details, see "Fast and Robust Iterative Closest Point", Juyong Zhang, Yuxin Yao, Bailin Deng, 2021. More...

#include <pcl/registration/transformation_estimation_point_to_point_robust.h>

Inheritance diagram for pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >:

Collaboration diagram for pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >:

Public Types
using	Ptr = shared_ptr< TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar > >

using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4

Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
using	Matrix4 = Eigen::Matrix< Scalar, 4, 4 >

using	Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > >

Public Member Functions
	TransformationEstimationPointToPointRobust ()=default
	Constructor.

	~TransformationEstimationPointToPointRobust () override=default

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.

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_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.

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
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

void	setSigma (Scalar sigma)
	Set the Welsch scale parameter used for robust reweighting.

Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >
	TransformationEstimation ()=default

virtual	~TransformationEstimation ()=default

Protected Member Functions
void	estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target.

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, const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &weights, Matrix4 &transformation_matrix) const
	Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.

template<typename PointT >
unsigned int	computeWeighted3DCentroid (ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &weights, Eigen::Matrix< Scalar, 4, 1 > &centroid) const
	Compute the 3D (X-Y-Z) centroid of a set of weighted points and return it as a 3D vector.

Protected Attributes
Scalar	sigma_ = -1
	parameter for the Welsch function

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >

TransformationEstimationPointToPointRobust implements SVD-based estimation of the transformation aligning the given correspondences for minimizing the Welsch function instead of L2-norm, For additional details, see "Fast and Robust Iterative Closest Point", Juyong Zhang, Yuxin Yao, Bailin Deng, 2021.

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: Yuxin Yao

Definition at line 29 of file transformation_estimation_point_to_point_robust.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationPointToPointRobust<PointSource, PointTarget, Scalar> >

Definition at line 34 of file transformation_estimation_point_to_point_robust.h.

◆ Matrix4

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 39 of file transformation_estimation_point_to_point_robust.h.

◆ Ptr

template<typename PointSource , typename PointTarget , typename Scalar = float>

using pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::Ptr = shared_ptr< TransformationEstimationPointToPointRobust<PointSource, PointTarget, Scalar> >

Definition at line 32 of file transformation_estimation_point_to_point_robust.h.

Constructor & Destructor Documentation

◆ TransformationEstimationPointToPointRobust()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::TransformationEstimationPointToPointRobust ( )

default

Constructor.

◆ ~TransformationEstimationPointToPointRobust()

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::~TransformationEstimationPointToPointRobust ( )

overridedefault

Member Function Documentation

◆ estimateRigidTransformation() [1/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::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

inlineoverridevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[in]	indices_tgt	the vector of indices describing the correspondences of the interest points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 68 of file transformation_estimation_point_to_point_robust.hpp.

◆ estimateRigidTransformation() [2/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::Indices &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inlineoverridevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 46 of file transformation_estimation_point_to_point_robust.hpp.

References pcl::PointCloud< PointT >::size().

◆ estimateRigidTransformation() [3/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Matrix4 &	transformation_matrix
	)		const

overridevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[in]	correspondences	the vector of correspondences between source and target point cloud
[out]	transformation_matrix	the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 91 of file transformation_estimation_point_to_point_robust.hpp.

◆ estimateRigidTransformation() [4/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix
	)		const

inlineoverridevirtual

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 24 of file transformation_estimation_point_to_point_robust.hpp.

References pcl::PointCloud< PointT >::size().

◆ estimateRigidTransformation() [5/5]

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	ConstCloudIterator< PointSource > &	source_it,
		ConstCloudIterator< PointTarget > &	target_it,
		Matrix4 &	transformation_matrix
	)		const

inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters

[in]	source_it	an iterator over the source point cloud dataset
[in]	target_it	an iterator over the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 104 of file transformation_estimation_point_to_point_robust.hpp.

References pcl::demeanPointCloud(), pcl::ConstCloudIterator< PointT >::reset(), and pcl::ConstCloudIterator< PointT >::size().

◆ getTransformationFromCorrelation()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::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,
		const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &	weights,
		Matrix4 &	transformation_matrix
	)		const

protectedvirtual

Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.

tgt'

Parameters

[in]	cloud_src_demean	the input source cloud, demeaned, in Eigen format
[in]	centroid_src	the input source centroid, in Eigen format
[in]	cloud_tgt_demean	the input target cloud, demeaned, in Eigen format
[in]	centroid_tgt	the input target cloud, in Eigen format
[out]	transformation_matrix	the resultant 4x4 rigid transformation matrix

Definition at line 175 of file transformation_estimation_point_to_point_robust.hpp.

References pcl::console::isVerbosityLevelEnabled(), and pcl::console::L_DEBUG.

◆ setSigma()

template<typename PointSource , typename PointTarget , typename Scalar = float>

void pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::setSigma ( Scalar sigma )

inline

Set the Welsch scale parameter used for robust reweighting.

If set to a positive value, this exact sigma is used. If set to a negative value (default), sigma is estimated automatically from current correspondences. Smaller positive values increase outlier suppression, larger values make the estimator closer to standard least-squares behavior.

Definition at line 106 of file transformation_estimation_point_to_point_robust.h.

References pcl::registration::TransformationEstimationPointToPointRobust< PointSource, PointTarget, Scalar >::sigma_.