Point Cloud Library (PCL)
1.9.1
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TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...
#include <pcl/registration/transformation_estimation_svd_scale.h>
Public Types | |
typedef boost::shared_ptr< TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > | Ptr |
typedef boost::shared_ptr< const TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > > | ConstPtr |
typedef TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4 | Matrix4 |
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typedef boost::shared_ptr< TransformationEstimationSVD< PointSource, PointTarget, Scalar > > | Ptr |
typedef boost::shared_ptr< const TransformationEstimationSVD< PointSource, PointTarget, Scalar > > | ConstPtr |
typedef TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 | Matrix4 |
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typedef Eigen::Matrix< Scalar, 4, 4 > | Matrix4 |
typedef boost::shared_ptr< TransformationEstimation< PointSource, PointTarget, Scalar > > | Ptr |
typedef boost::shared_ptr< const TransformationEstimation< PointSource, PointTarget, Scalar > > | ConstPtr |
Public Member Functions | |
TransformationEstimationSVDScale () | |
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method. More... | |
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TransformationEstimationSVD (bool use_umeyama=true) | |
Constructor. More... | |
virtual | ~TransformationEstimationSVD () |
void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... | |
void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... | |
void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const std::vector< int > &indices_tgt, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... | |
void | estimateRigidTransformation (const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, const pcl::Correspondences &correspondences, Matrix4 &transformation_matrix) const |
Estimate a rigid rotation transformation between a source and a target point cloud using SVD. More... | |
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TransformationEstimation () | |
virtual | ~TransformationEstimation () |
Protected Member Functions | |
void | getTransformationFromCorrelation (const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_src_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_src, const Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &cloud_tgt_demean, const Eigen::Matrix< Scalar, 4, 1 > ¢roid_tgt, Matrix4 &transformation_matrix) const |
Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'. More... | |
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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. More... | |
Additional Inherited Members | |
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bool | use_umeyama_ |
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.
Definition at line 58 of file transformation_estimation_svd_scale.h.
typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::ConstPtr |
Definition at line 62 of file transformation_estimation_svd_scale.h.
typedef TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::Matrix4 |
Definition at line 64 of file transformation_estimation_svd_scale.h.
typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::Ptr |
Definition at line 61 of file transformation_estimation_svd_scale.h.
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inline |
Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.
Definition at line 67 of file transformation_estimation_svd_scale.h.
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protectedvirtual |
Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'.
[in] | cloud_src_demean | the input source cloud, demeaned, in Eigen format |
[in] | centroid_src | the input source centroid, in Eigen format |
[in] | cloud_tgt_demean | the input target cloud, demeaned, in Eigen format |
[in] | centroid_tgt | the input target cloud, in Eigen format |
[out] | transformation_matrix | the resultant 4x4 rigid transformation matrix |
Reimplemented from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >.
Definition at line 44 of file transformation_estimation_svd_scale.hpp.