TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_svd_scale.h>

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

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

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

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

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

Public Types inherited from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >
using	Ptr = shared_ptr< TransformationEstimationSVD< PointSource, PointTarget, float > >

using	ConstPtr = shared_ptr< const TransformationEstimationSVD< PointSource, PointTarget, float > >

using	Matrix4 = typename TransformationEstimation< PointSource, PointTarget, float >::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
	TransformationEstimationSVDScale ()
	Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method. More...

Public Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >
	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	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. More...

Protected Member Functions inherited from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >
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...

Additional Inherited Members
Protected Attributes inherited from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >
bool	use_umeyama_

Detailed Description

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

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences.

Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm.

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: Suat Gedikli

Definition at line 58 of file transformation_estimation_svd_scale.h.

Member Typedef Documentation

◆ ConstPtr

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

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

Definition at line 63 of file transformation_estimation_svd_scale.h.

◆ Matrix4

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

using pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::Matrix4 = typename TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4

Definition at line 66 of file transformation_estimation_svd_scale.h.

◆ Ptr

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

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

Definition at line 61 of file transformation_estimation_svd_scale.h.

Constructor & Destructor Documentation

◆ TransformationEstimationSVDScale()

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

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

inline

Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.

Definition at line 71 of file transformation_estimation_svd_scale.h.

Member Function Documentation

◆ getTransformationFromCorrelation()

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::TransformationEstimationSVDScale< 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,
		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

Reimplemented from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, float >.

Definition at line 49 of file transformation_estimation_svd_scale.hpp.

The documentation for this class was generated from the following files:

pcl/registration/transformation_estimation_svd_scale.h
pcl/registration/impl/transformation_estimation_svd_scale.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Matrix4

◆ Ptr

Constructor & Destructor Documentation

◆ TransformationEstimationSVDScale()

Member Function Documentation

◆ getTransformationFromCorrelation()

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