TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_svd.h>
Inheritance diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >:
Collaboration diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >:
Public Types | |
| using | Ptr = shared_ptr< TransformationEstimationSVD< PointSource, PointTarget, Scalar > > |
| using | ConstPtr = shared_ptr< const TransformationEstimationSVD< PointSource, PointTarget, Scalar > > |
| using | Matrix4 = typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 |
| Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > | |
| using | Matrix4 = Eigen::Matrix< float, 4, 4 > |
| using | Ptr = shared_ptr< TransformationEstimation< PointSource, PointTarget, float > > |
| using | ConstPtr = shared_ptr< const TransformationEstimation< PointSource, PointTarget, float > > |
Public Member Functions | |
| TransformationEstimationSVD (bool use_umeyama=true) | |
| Constructor. More... | |
| ~TransformationEstimationSVD () 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float > | |
| TransformationEstimation ()=default | |
| virtual | ~TransformationEstimation ()=default |
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
| virtual 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=0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
| virtual void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const=0 |
| Estimate a rigid rotation transformation between a source and a target point cloud. More... | |
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. More... | |
| virtual void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
| Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src. More... | |
Protected Attributes | |
| bool | use_umeyama_ |
Detailed Description
template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >
TransformationEstimationSVD implements SVD-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.
Definition at line 58 of file transformation_estimation_svd.h.
Member Typedef Documentation
◆ ConstPtr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::ConstPtr = shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> > |
Definition at line 62 of file transformation_estimation_svd.h.
◆ Matrix4
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 |
Definition at line 65 of file transformation_estimation_svd.h.
◆ Ptr
template<typename PointSource , typename PointTarget , typename Scalar = float>
| using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> > |
Definition at line 61 of file transformation_estimation_svd.h.
Constructor & Destructor Documentation
◆ TransformationEstimationSVD()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
inline |
Constructor.
- Parameters
-
[in] use_umeyama Toggles whether or not to use 3rd party software
Definition at line 70 of file transformation_estimation_svd.h.
◆ ~TransformationEstimationSVD()
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
overridedefault |
Member Function Documentation
◆ estimateRigidTransformation() [1/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inlineoverride |
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
Definition at line 94 of file transformation_estimation_svd.hpp.
◆ estimateRigidTransformation() [2/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inlineoverride |
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
Definition at line 73 of file transformation_estimation_svd.hpp.
References pcl::PointCloud< PointT >::size().
◆ estimateRigidTransformation() [3/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
override |
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
Definition at line 116 of file transformation_estimation_svd.hpp.
◆ estimateRigidTransformation() [4/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
inlineoverride |
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
Definition at line 52 of file transformation_estimation_svd.hpp.
References pcl::PointCloud< PointT >::size().
◆ estimateRigidTransformation() [5/5]
template<typename PointSource , typename PointTarget , typename Scalar >
|
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 129 of file transformation_estimation_svd.hpp.
◆ getTransformationFromCorrelation()
template<typename PointSource , typename PointTarget , typename Scalar >
|
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
Reimplemented in pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.
Definition at line 185 of file transformation_estimation_svd.hpp.
References pcl::console::isVerbosityLevelEnabled(), and pcl::console::L_DEBUG.
Member Data Documentation
◆ use_umeyama_
template<typename PointSource , typename PointTarget , typename Scalar = float>
|
protected |
Definition at line 151 of file transformation_estimation_svd.h.
The documentation for this class was generated from the following files:
- pcl/registration/transformation_estimation_svd.h
- pcl/registration/impl/transformation_estimation_svd.hpp