Point Cloud Library (PCL) 1.13.0
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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
46namespace pcl {
47namespace 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 */
56template <typename PointSource, typename PointTarget, typename Scalar = float>
58: public TransformationEstimation<PointSource, PointTarget, Scalar> {
59public:
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
124protected:
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.
PointCloud represents the base class in PCL for storing collections of 3D points.
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