Point Cloud Library (PCL)  1.12.1-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 namespace 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  */
56 template <typename PointSource, typename PointTarget, typename Scalar = float>
58 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
59 public:
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 
71  ~TransformationEstimationSVD() override = default;
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 
124 protected:
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