Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar > Class Template Reference

#include <transformation_estimation_svd.h>

Inheritance diagram for pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >:
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List of all members.

Public Types

typedef boost::shared_ptr
< const
TransformationEstimationSVD
< PointSource, PointTarget,
Scalar > > 		ConstPtr
typedef
TransformationEstimation
< PointSource, PointTarget,
Scalar >::Matrix4 		Matrix4
typedef boost::shared_ptr
< TransformationEstimationSVD
< PointSource, PointTarget,
Scalar > > 		Ptr

Public Member Functions

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.
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.
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.
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.
 TransformationEstimationSVD (bool use_umeyama=true)
 Constructor.
virtual ~TransformationEstimationSVD ()

Protected Member Functions

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.
virtual 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'.

Protected Attributes

bool use_umeyama_

Detailed Description

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

TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences.

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:
Dirk Holz, Radu B. Rusu

Definition at line 58 of file transformation_estimation_svd.h.

Member Typedef Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef boost::shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::ConstPtr

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

Reimplemented in pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.

Definition at line 62 of file transformation_estimation_svd.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Matrix4

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

Reimplemented in pcl::recognition::TrimmedICP< PointT, Scalar >, pcl::recognition::TrimmedICP< pcl::PointXYZ, float >, and pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.

Definition at line 64 of file transformation_estimation_svd.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
typedef boost::shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> > pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::Ptr

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

Reimplemented in pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.

Definition at line 61 of file transformation_estimation_svd.h.

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::TransformationEstimationSVD ( bool  use_umeyama = true) [inline]

Constructor.

Parameters:
[in]use_umeyamaToggles whether or not to use 3rd party software

Definition at line 68 of file transformation_estimation_svd.h.

template<typename PointSource, typename PointTarget, typename Scalar = float>
virtual pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::~TransformationEstimationSVD ( ) [inline, virtual]

Definition at line 72 of file transformation_estimation_svd.h.

Member Function Documentation

template<typename PointSource, typename PointTarget, typename Scalar >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 &  transformation_matrix 
) const [inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 47 of file transformation_estimation_svd.hpp.

template<typename PointSource, typename PointTarget, typename Scalar >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const std::vector< int > &  indices_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
Matrix4 &  transformation_matrix 
) const [inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 66 of file transformation_estimation_svd.hpp.

template<typename PointSource, typename PointTarget, typename Scalar >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::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 [inline, virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]indices_srcthe vector of indices describing the points of interest in cloud_src
[in]cloud_tgtthe target point cloud dataset
[in]indices_tgtthe vector of indices describing the correspondences of the interst points from indices_src
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 85 of file transformation_estimation_svd.hpp.

template<typename PointSource, typename PointTarget, typename Scalar >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( const pcl::PointCloud< PointSource > &  cloud_src,
const pcl::PointCloud< PointTarget > &  cloud_tgt,
const pcl::Correspondences &  correspondences,
Matrix4 &  transformation_matrix 
) const [virtual]

Estimate a rigid rotation transformation between a source and a target point cloud using SVD.

Parameters:
[in]cloud_srcthe source point cloud dataset
[in]cloud_tgtthe target point cloud dataset
[in]correspondencesthe vector of correspondences between source and target point cloud
[out]transformation_matrixthe resultant transformation matrix

Implements pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >.

Definition at line 105 of file transformation_estimation_svd.hpp.

template<typename PointSource, typename PointTarget, typename Scalar >
void pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::estimateRigidTransformation ( ConstCloudIterator< PointSource > &  source_it,
ConstCloudIterator< PointTarget > &  target_it,
Matrix4 &  transformation_matrix 
) const [inline, protected]

Estimate a rigid rotation transformation between a source and a target.

Parameters:
[in]source_itan iterator over the source point cloud dataset
[in]target_itan iterator over the target point cloud dataset
[out]transformation_matrixthe resultant transformation matrix

Definition at line 118 of file transformation_estimation_svd.hpp.

template<typename PointSource , typename PointTarget , typename Scalar>
void pcl::registration::TransformationEstimationSVD< 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_demeanthe input source cloud, demeaned, in Eigen format
[in]centroid_srcthe input source centroid, in Eigen format
[in]cloud_tgt_demeanthe input target cloud, demeaned, in Eigen format
[in]centroid_tgtthe input target cloud, in Eigen format
[out]transformation_matrixthe resultant 4x4 rigid transformation matrix

Reimplemented in pcl::registration::TransformationEstimationSVDScale< PointSource, PointTarget, Scalar >.

Definition at line 170 of file transformation_estimation_svd.hpp.

Member Data Documentation

template<typename PointSource, typename PointTarget, typename Scalar = float>
bool pcl::registration::TransformationEstimationSVD< PointSource, PointTarget, Scalar >::use_umeyama_ [protected]

Definition at line 153 of file transformation_estimation_svd.h.

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

pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:46:56