Point Cloud Library (PCL) 1.14.0
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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#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
46
47namespace pcl {
48namespace registration {
49/** @b TransformationEstimationSVD implements SVD-based estimation of
50 * the transformation aligning the given correspondences.
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 Dirk Holz, Radu B. Rusu
55 * \ingroup registration
56 */
57template <typename PointSource, typename PointTarget, typename Scalar = float>
59: public TransformationEstimation<PointSource, PointTarget, Scalar> {
60public:
61 using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
62 using ConstPtr =
63 shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
64
65 using Matrix4 =
67
68 /** \brief Constructor
69 * \param[in] use_umeyama Toggles whether or not to use 3rd party software*/
70 TransformationEstimationSVD(bool use_umeyama = true) : use_umeyama_(use_umeyama) {}
71
72 ~TransformationEstimationSVD() override = default;
73
74 /** \brief Estimate a rigid rotation transformation between a source and a target
75 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
76 * \param[in] cloud_tgt the target point cloud dataset
77 * \param[out] transformation_matrix the resultant transformation matrix
78 */
79 inline void
81 const pcl::PointCloud<PointTarget>& cloud_tgt,
82 Matrix4& transformation_matrix) const override;
83
84 /** \brief Estimate a rigid rotation transformation between a source and a target
85 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
86 * \param[in] indices_src the vector of indices describing the points of interest in
87 * \a cloud_src
88 * \param[in] cloud_tgt the target point cloud dataset
89 * \param[out] transformation_matrix the resultant transformation matrix
90 */
91 inline void
93 const pcl::Indices& indices_src,
94 const pcl::PointCloud<PointTarget>& cloud_tgt,
95 Matrix4& transformation_matrix) const override;
96
97 /** \brief Estimate a rigid rotation transformation between a source and a target
98 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
99 * \param[in] indices_src the vector of indices describing the points of interest in
100 * \a cloud_src
101 * \param[in] cloud_tgt the target point cloud dataset
102 * \param[in] indices_tgt the vector of indices describing the correspondences of the
103 * interest points from \a indices_src
104 * \param[out] transformation_matrix the resultant transformation matrix
105 */
106 inline void
108 const pcl::Indices& indices_src,
109 const pcl::PointCloud<PointTarget>& cloud_tgt,
110 const pcl::Indices& indices_tgt,
111 Matrix4& transformation_matrix) const override;
112
113 /** \brief Estimate a rigid rotation transformation between a source and a target
114 * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
115 * \param[in] cloud_tgt the target point cloud dataset
116 * \param[in] correspondences the vector of correspondences between source and target
117 * point cloud \param[out] transformation_matrix the resultant transformation matrix
118 */
119 void
121 const pcl::PointCloud<PointTarget>& cloud_tgt,
122 const pcl::Correspondences& correspondences,
123 Matrix4& transformation_matrix) const override;
124
125protected:
126 /** \brief Estimate a rigid rotation transformation between a source and a target
127 * \param[in] source_it an iterator over the source point cloud dataset
128 * \param[in] target_it an iterator over the target point cloud dataset
129 * \param[out] transformation_matrix the resultant transformation matrix
130 */
131 void
134 Matrix4& transformation_matrix) const;
135
136 /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src
137 * * tgt' \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen
138 * format \param[in] centroid_src the input source centroid, in Eigen format
139 * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
140 * \param[in] centroid_tgt the input target cloud, in Eigen format
141 * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
142 */
143 virtual void
145 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
146 const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
147 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
148 const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
149 Matrix4& transformation_matrix) const;
150
152};
153
154} // namespace registration
155} // namespace pcl
156
157#include <pcl/registration/impl/transformation_estimation_svd.hpp>
158
159#if !defined(PCL_NO_PRECOMPILE) && \
160 !defined(PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_CPP_)
167#endif // PCL_NO_PRECOMPILE
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
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, and the RGB color.