TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...

#include <pcl/registration/transformation_estimation_svd.h>

Inheritance diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >:

Public Types
using	Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>
using	ConstPtr
using	Matrix4
Public Types inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
using	Matrix4
using	Ptr
using	ConstPtr

Public Member Functions
	TransformationEstimationSVD (bool use_umeyama=true)
	Constructor.
	~TransformationEstimationSVD () override=default
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.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_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.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::Indices &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const override
	Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
Public Member Functions inherited from pcl::registration::TransformationEstimation< PointSource, PointTarget, float >
	TransformationEstimation ()=default
virtual	~TransformationEstimation ()=default
virtual void	estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const=0
	Estimate a rigid rotation transformation between a source and a target point cloud.

Protected Member Functions
void	estimateRigidTransformation (ConstCloudIterator< PointSource > &source_it, ConstCloudIterator< PointTarget > &target_it, Matrix4 &transformation_matrix) const
	Estimate a rigid rotation transformation between a source and a target.
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.

Protected Attributes
bool	use_umeyama_

Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences.

Note: The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.

Author: Dirk Holz, Radu B. Rusu

Definition at line 58 of file transformation_estimation_svd.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource, typename PointTarget, typename Scalar = float>

using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::ConstPtr

Initial value:

shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar>>

Definition at line 62 of file transformation_estimation_svd.h.

◆ Matrix4

template<typename PointSource, typename PointTarget, typename Scalar = float>

using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4

Initial value:

typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4

pcl::registration::TransformationEstimation::Matrix4

Eigen::Matrix< Scalar, 4, 4 > Matrix4

Definition transformation_estimation.h:64

Definition at line 65 of file transformation_estimation_svd.h.

◆ Ptr

template<typename PointSource, typename PointTarget, typename Scalar = float>

using pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>

Definition at line 61 of file transformation_estimation_svd.h.

Constructor & Destructor Documentation

◆ TransformationEstimationSVD()

template<typename PointSource, typename PointTarget, typename Scalar = float>

pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::TransformationEstimationSVD ( bool use_umeyama = true )

inline

Constructor.

Parameters

[in] use_umeyama Toggles whether or not to use 3rd party software

Definition at line 70 of file transformation_estimation_svd.h.

References use_umeyama_.

◆ ~TransformationEstimationSVD()

template<typename PointSource, typename PointTarget, typename Scalar = float>

pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::~TransformationEstimationSVD ( )

overridedefault

Member Function Documentation

◆ estimateRigidTransformation() [1/5]

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::Indices &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Indices &	indices_tgt,
		Matrix4 &	transformation_matrix ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[in]	indices_tgt	the vector of indices describing the correspondences of the interest points from indices_src
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 94 of file transformation_estimation_svd.hpp.

References estimateRigidTransformation().

◆ estimateRigidTransformation() [2/5]

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::Indices &	indices_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 73 of file transformation_estimation_svd.hpp.

References pcl::PointCloud< PointT >::size().

◆ estimateRigidTransformation() [3/5]

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		const pcl::Correspondences &	correspondences,
		Matrix4 &	transformation_matrix ) const

override

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[in]	correspondences	the vector of correspondences between source and target point cloud
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 116 of file transformation_estimation_svd.hpp.

References estimateRigidTransformation().

◆ estimateRigidTransformation() [4/5]

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	const pcl::PointCloud< PointSource > &	cloud_src,
		const pcl::PointCloud< PointTarget > &	cloud_tgt,
		Matrix4 &	transformation_matrix ) const

inlineoverride

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters

[in]	cloud_src	the source point cloud dataset
[in]	cloud_tgt	the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 52 of file transformation_estimation_svd.hpp.

References estimateRigidTransformation(), and pcl::PointCloud< PointT >::size().

Referenced by estimateRigidTransformation(), estimateRigidTransformation(), and estimateRigidTransformation().

◆ estimateRigidTransformation() [5/5]

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation	(	ConstCloudIterator< PointSource > &	source_it,
		ConstCloudIterator< PointTarget > &	target_it,
		Matrix4 &	transformation_matrix ) const

inlineprotected

Estimate a rigid rotation transformation between a source and a target.

Parameters

[in]	source_it	an iterator over the source point cloud dataset
[in]	target_it	an iterator over the target point cloud dataset
[out]	transformation_matrix	the resultant transformation matrix

Definition at line 129 of file transformation_estimation_svd.hpp.

References pcl::ConstCloudIterator< PointT >::size(), and use_umeyama_.

◆ getTransformationFromCorrelation()

template<typename PointSource, typename PointTarget, typename Scalar>

void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::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

protectedvirtual

Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src.

tgt'

Parameters

[in]	cloud_src_demean	the input source cloud, demeaned, in Eigen format
[in]	centroid_src	the input source centroid, in Eigen format
[in]	cloud_tgt_demean	the input target cloud, demeaned, in Eigen format
[in]	centroid_tgt	the input target cloud, in Eigen format
[out]	transformation_matrix	the resultant 4x4 rigid transformation matrix