Point Cloud Library (PCL)  1.9.1
transformation_estimation_svd_scale.h
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40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_
42 
43 #include <pcl/registration/transformation_estimation_svd.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** @b TransformationEstimationSVD implements SVD-based estimation of
50  * the transformation aligning the given correspondences.
51  * Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm.
52  *
53  * \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.
54  * \author Suat Gedikli
55  * \ingroup registration
56  */
57  template <typename PointSource, typename PointTarget, typename Scalar = float>
58  class TransformationEstimationSVDScale : public TransformationEstimationSVD<PointSource, PointTarget, Scalar>
59  {
60  public:
61  typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > Ptr;
62  typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > ConstPtr;
63 
65 
66  /** \brief Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method */
68  TransformationEstimationSVD<PointSource, PointTarget, Scalar> (false)
69  {}
70 
71  protected:
72  /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'
73  * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format
74  * \param[in] centroid_src the input source centroid, in Eigen format
75  * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
76  * \param[in] centroid_tgt the input target cloud, in Eigen format
77  * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
78  */
79  void
80  getTransformationFromCorrelation (const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
81  const Eigen::Matrix<Scalar, 4, 1> &centroid_src,
82  const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
83  const Eigen::Matrix<Scalar, 4, 1> &centroid_tgt,
84  Matrix4 &transformation_matrix) const;
85  };
86 
87  }
88 }
89 
90 #include <pcl/registration/impl/transformation_estimation_svd_scale.hpp>
91 
92 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */
TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
boost::shared_ptr< const TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > ConstPtr
TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
TransformationEstimationSVDScale()
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
boost::shared_ptr< TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > Ptr
TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given ...
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;.