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transformation_estimation_svd_scale.hpp
/*
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_HPP_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_HPP_
namespace pcl {
namespace registration {
template <typename PointSource, typename PointTarget, typename Scalar>
void
TransformationEstimationSVDScale<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
{
transformation_matrix.setIdentity();
// Assemble the correlation matrix H = source * target'
Eigen::Matrix<Scalar, 3, 3> H =
(cloud_src_demean * cloud_tgt_demean.transpose()).topLeftCorner(3, 3);
// Compute the Singular Value Decomposition
Eigen::JacobiSVD<Eigen::Matrix<Scalar, 3, 3>> svd(
H, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix<Scalar, 3, 3> u = svd.matrixU();
Eigen::Matrix<Scalar, 3, 3> v = svd.matrixV();
// Compute R = V * U'
if (u.determinant() * v.determinant() < 0) {
for (int x = 0; x < 3; ++x)
v(x, 2) *= -1;
}
Eigen::Matrix<Scalar, 3, 3> R = v * u.transpose();
// rotated cloud
Eigen::Matrix<Scalar, 4, 4> R4;
R4.block(0, 0, 3, 3) = R;
R4(0, 3) = 0;
R4(1, 3) = 0;
R4(2, 3) = 0;
R4(3, 3) = 1;
Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> src_ = R4 * cloud_src_demean;
double sum_ss = 0.0f, sum_tt = 0.0f;
for (unsigned corrIdx = 0; corrIdx < cloud_src_demean.cols(); ++corrIdx) {
sum_ss += cloud_src_demean(0, corrIdx) * cloud_src_demean(0, corrIdx);
sum_ss += cloud_src_demean(1, corrIdx) * cloud_src_demean(1, corrIdx);
sum_ss += cloud_src_demean(2, corrIdx) * cloud_src_demean(2, corrIdx);
sum_tt += cloud_tgt_demean(0, corrIdx) * src_(0, corrIdx);
sum_tt += cloud_tgt_demean(1, corrIdx) * src_(1, corrIdx);
sum_tt += cloud_tgt_demean(2, corrIdx) * src_(2, corrIdx);
}
float scale = sum_tt / sum_ss;
transformation_matrix.topLeftCorner(3, 3) = scale * R;
const Eigen::Matrix<Scalar, 3, 1> Rc(scale * R * centroid_src.head(3));
transformation_matrix.block(0, 3, 3, 1) = centroid_tgt.head(3) - Rc;
}
} // namespace registration
} // namespace pcl
//#define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS
// pcl::registration::TransformationEstimationSVD<T,U>;
#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_HPP_ */
pcl::registration::TransformationEstimationSVDScale::getTransformationFromCorrelation
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.
Definition transformation_estimation_svd_scale.hpp:50
pcl::registration::TransformationEstimationSVDScale::Matrix4
typename TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition transformation_estimation_svd_scale.h:67
pcl
Definition convolution.h:46