transformation_estimation_svd_scale.h
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
#include <pcl/registration/transformation_estimation_svd.h>
namespace pcl
{
namespace registration
{
/** @b TransformationEstimationSVD implements SVD-based estimation of
* the transformation aligning the given correspondences.
* Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm.
*
* \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 Suat Gedikli
* \ingroup registration
*/
template <typename PointSource, typename PointTarget, typename Scalar = float>
class TransformationEstimationSVDScale : public TransformationEstimationSVD<PointSource, PointTarget, Scalar>
{
public:
typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > Ptr;
typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > ConstPtr;
typedef typename TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
/** \brief Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method */
TransformationEstimationSVDScale ():
TransformationEstimationSVD<PointSource, PointTarget, Scalar> (false)
{}
protected:
/** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'
* \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format
* \param[in] centroid_src the input source centroid, in Eigen format
* \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
* \param[in] centroid_tgt the input target cloud, in Eigen format
* \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
*/
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;
};
}
}
#include <pcl/registration/impl/transformation_estimation_svd_scale.hpp>
#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */
pcl::registration::TransformationEstimationSVDScale::Matrix4
TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_svd_scale.h:64
pcl::registration::TransformationEstimationSVDScale::ConstPtr
boost::shared_ptr< const TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_svd_scale.h:62
pcl::registration::TransformationEstimationSVD::Matrix4
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_svd.h:64
pcl::registration::TransformationEstimationSVDScale::TransformationEstimationSVDScale
TransformationEstimationSVDScale()
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.
Definition: transformation_estimation_svd_scale.h:67
pcl
Definition: cloud_iterator.h:46
pcl::registration::TransformationEstimationSVDScale
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
Definition: transformation_estimation_svd_scale.h:58
pcl::registration::TransformationEstimationSVDScale::Ptr
boost::shared_ptr< TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_svd_scale.h:61
pcl::registration::TransformationEstimationSVD
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
Definition: transformation_estimation_svd.h:58
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 * tgt&#39;.
Definition: transformation_estimation_svd_scale.hpp:44