pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar > Class Template Reference

#include <transformation_estimation_svd_scale.h>

Inheritance diagram for pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >:

List of all members.

Public Types
typedef boost::shared_ptr < const TransformationEstimationSVDScale < PointSource, PointTarget, Scalar > >	ConstPtr
typedef TransformationEstimationSVD < PointSource, PointTarget, Scalar >::Matrix4	Matrix4
typedef boost::shared_ptr < TransformationEstimationSVDScale < PointSource, PointTarget, Scalar > >	Ptr
Public Member Functions
	TransformationEstimationSVDScale ()
	Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method.
Protected Member Functions
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'.

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Detailed Description

template<typename PointSource, typename PointTarget, typename Scalar = float>
class pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >

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

Definition at line 58 of file transformation_estimation_svd_scale.h.

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Member Typedef Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::ConstPtr

Reimplemented from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >.

Definition at line 62 of file transformation_estimation_svd_scale.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::Matrix4

Reimplemented from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >.

Definition at line 64 of file transformation_estimation_svd_scale.h.

template<typename PointSource , typename PointTarget , typename Scalar = float>

typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::Ptr

Reimplemented from pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >.

Definition at line 61 of file transformation_estimation_svd_scale.h.

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Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget , typename Scalar = float>

pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >::TransformationEstimationSVDScale

(

)

[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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Member Function Documentation

template<typename PointSource , typename PointTarget , typename Scalar >

void pcl::registration::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 [protected, virtual]

Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'.

Parameters:

[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.

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

• transformation_estimation_svd_scale.h
• transformation_estimation_svd_scale.hpp