Point Cloud Library (PCL) 1.15.0
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List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar > Class Template Reference
Module registration

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 >:
Collaboration 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

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_umeyamaToggles 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_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interest points from indices_src
[out]transformation_matrixthe 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_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe 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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe 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_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe 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_itan iterator over the source point cloud dataset
[in]target_itan iterator over the target point cloud dataset
[out]transformation_matrixthe 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_demeanthe input source cloud, demeaned, in Eigen format
    [in]centroid_srcthe input source centroid, in Eigen format
    [in]cloud_tgt_demeanthe input target cloud, demeaned, in Eigen format
    [in]centroid_tgtthe input target cloud, in Eigen format
    [out]transformation_matrixthe resultant 4x4 rigid transformation matrix

Reimplemented in pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.

Definition at line 185 of file transformation_estimation_svd.hpp.

References pcl::console::isVerbosityLevelEnabled(), and pcl::console::L_DEBUG.

Member Data Documentation

◆ use_umeyama_

template<typename PointSource, typename PointTarget, typename Scalar = float>
bool pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::use_umeyama_
protected

Definition at line 151 of file transformation_estimation_svd.h.

Referenced by estimateRigidTransformation(), and TransformationEstimationSVD().

The documentation for this class was generated from the following files: