Point Cloud Library (PCL) 1.13.0
transformation_estimation_svd_scale.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
40
41#pragma once
42
43#include <pcl/registration/transformation_estimation_svd.h>
44
45namespace pcl {
46namespace 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 */
57template <typename PointSource, typename PointTarget, typename Scalar = float>
59: public TransformationEstimationSVD<PointSource, PointTarget, Scalar> {
60public:
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
75protected:
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>
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
shared_ptr< TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > Ptr
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.
typename TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
shared_ptr< const TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > ConstPtr
TransformationEstimationSVDScale()
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.