Point Cloud Library (PCL)  1.12.0-dev
transformation_estimation_svd_scale.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/transformation_estimation_svd.h>
44 
45 namespace pcl {
46 namespace registration {
47 /** @b TransformationEstimationSVD implements SVD-based estimation of
48  * the transformation aligning the given correspondences.
49  * Optionally the scale is estimated. Note that the similarity transform might not be
50  * optimal for the underlying Frobenius Norm.
51  *
52  * \note The class is templated on the source and target point types as well as on the
53  * output scalar of the transformation matrix (i.e., float or double). Default: float.
54  * \author Suat Gedikli
55  * \ingroup registration
56  */
57 template <typename PointSource, typename PointTarget, typename Scalar = float>
59 : public TransformationEstimationSVD<PointSource, PointTarget, Scalar> {
60 public:
61  using Ptr =
62  shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar>>;
63  using ConstPtr = shared_ptr<
65 
66  using Matrix4 =
68 
69  /** \brief Inherits from TransformationEstimationSVD, but forces it to not use the
70  * Umeyama method */
72  : TransformationEstimationSVD<PointSource, PointTarget, Scalar>(false)
73  {}
74 
75 protected:
76  /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src
77  * * tgt' \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen
78  * format \param[in] centroid_src the input source centroid, in Eigen format
79  * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
80  * \param[in] centroid_tgt the input target cloud, in Eigen format
81  * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
82  */
83  void
85  const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
86  const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
87  const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
88  const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
89  Matrix4& transformation_matrix) const;
90 };
91 
92 } // namespace registration
93 } // namespace pcl
94 
95 #include <pcl/registration/impl/transformation_estimation_svd_scale.hpp>
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimationSVD
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
Definition: transformation_estimation_svd.h:57
pcl::registration::TransformationEstimationSVDScale::TransformationEstimationSVDScale
TransformationEstimationSVDScale()
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.
Definition: transformation_estimation_svd_scale.h:71
pcl::registration::TransformationEstimationSVD::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_svd.h:65
pcl::registration::TransformationEstimationSVDScale
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
Definition: transformation_estimation_svd_scale.h:58
pcl::registration::TransformationEstimationSVDScale::Matrix4
typename TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_svd_scale.h:67
pcl::registration::TransformationEstimationSVDScale::Ptr
shared_ptr< TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_svd_scale.h:62
pcl::registration::TransformationEstimationSVDScale::ConstPtr
shared_ptr< const TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_svd_scale.h:64
pcl::registration::TransformationEstimationSVDScale::getTransformationFromCorrelation
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.
Definition: transformation_estimation_svd_scale.hpp:50