Point Cloud Library (PCL)  1.14.1-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 #include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
46 
47 namespace pcl {
48 namespace 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  */
57 template <typename PointSource, typename PointTarget, typename Scalar = float>
59 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
60 public:
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 
125 protected:
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_)
162  pcl::PointXYZ>;
167 #endif // PCL_NO_PRECOMPILE
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
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, and the RGB color.