Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/registration/include/pcl/registration/transformation_estimation_svd.h
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00040 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
00041 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_
00042 
00043 #include <pcl/registration/transformation_estimation.h>
00044 #include <pcl/cloud_iterator.h>
00045 
00046 namespace pcl
00047 {
00048   namespace registration
00049   {
00050     /** @b TransformationEstimationSVD implements SVD-based estimation of
00051       * the transformation aligning the given correspondences.
00052       *
00053       * \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.
00054       * \author Dirk Holz, Radu B. Rusu
00055       * \ingroup registration
00056       */
00057     template <typename PointSource, typename PointTarget, typename Scalar = float>
00058     class TransformationEstimationSVD : public TransformationEstimation<PointSource, PointTarget, Scalar>
00059     {
00060       public:
00061         typedef boost::shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar> > Ptr;
00062         typedef boost::shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar> > ConstPtr;
00063 
00064         typedef typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
00065 
00066         /** \brief Constructor
00067           * \param[in] use_umeyama Toggles whether or not to use 3rd party software*/
00068         TransformationEstimationSVD (bool use_umeyama=true):
00069           use_umeyama_ (use_umeyama)
00070         {}
00071 
00072         virtual ~TransformationEstimationSVD () {};
00073 
00074         /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
00075           * \param[in] cloud_src the source point cloud dataset
00076           * \param[in] cloud_tgt the target point cloud dataset
00077           * \param[out] transformation_matrix the resultant transformation matrix
00078           */
00079         inline void
00080         estimateRigidTransformation (
00081             const pcl::PointCloud<PointSource> &cloud_src,
00082             const pcl::PointCloud<PointTarget> &cloud_tgt,
00083             Matrix4 &transformation_matrix) const;
00084 
00085         /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
00086           * \param[in] cloud_src the source point cloud dataset
00087           * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
00088           * \param[in] cloud_tgt the target point cloud dataset
00089           * \param[out] transformation_matrix the resultant transformation matrix
00090           */
00091         inline void
00092         estimateRigidTransformation (
00093             const pcl::PointCloud<PointSource> &cloud_src,
00094             const std::vector<int> &indices_src,
00095             const pcl::PointCloud<PointTarget> &cloud_tgt,
00096             Matrix4 &transformation_matrix) const;
00097 
00098         /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
00099           * \param[in] cloud_src the source point cloud dataset
00100           * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
00101           * \param[in] cloud_tgt the target point cloud dataset
00102           * \param[in] indices_tgt the vector of indices describing the correspondences of the interst points from \a indices_src
00103           * \param[out] transformation_matrix the resultant transformation matrix
00104           */
00105         inline void
00106         estimateRigidTransformation (
00107             const pcl::PointCloud<PointSource> &cloud_src,
00108             const std::vector<int> &indices_src,
00109             const pcl::PointCloud<PointTarget> &cloud_tgt,
00110             const std::vector<int> &indices_tgt,
00111             Matrix4 &transformation_matrix) const;
00112 
00113         /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
00114           * \param[in] cloud_src the source point cloud dataset
00115           * \param[in] cloud_tgt the target point cloud dataset
00116           * \param[in] correspondences the vector of correspondences between source and target point cloud
00117           * \param[out] transformation_matrix the resultant transformation matrix
00118           */
00119         void
00120         estimateRigidTransformation (
00121             const pcl::PointCloud<PointSource> &cloud_src,
00122             const pcl::PointCloud<PointTarget> &cloud_tgt,
00123             const pcl::Correspondences &correspondences,
00124             Matrix4 &transformation_matrix) const;
00125 
00126       protected:
00127 
00128         /** \brief Estimate a rigid rotation transformation between a source and a target
00129           * \param[in] source_it an iterator over the source point cloud dataset
00130           * \param[in] target_it an iterator over the target point cloud dataset
00131           * \param[out] transformation_matrix the resultant transformation matrix
00132           */
00133         void
00134         estimateRigidTransformation (ConstCloudIterator<PointSource>& source_it,
00135                                      ConstCloudIterator<PointTarget>& target_it,
00136                                      Matrix4 &transformation_matrix) const;
00137 
00138         /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'
00139           * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format
00140           * \param[in] centroid_src the input source centroid, in Eigen format
00141           * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
00142           * \param[in] centroid_tgt the input target cloud, in Eigen format
00143           * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
00144           */
00145         virtual void
00146         getTransformationFromCorrelation (
00147             const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean,
00148             const Eigen::Matrix<Scalar, 4, 1> &centroid_src,
00149             const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean,
00150             const Eigen::Matrix<Scalar, 4, 1> &centroid_tgt,
00151             Matrix4 &transformation_matrix) const;
00152 
00153         bool use_umeyama_;
00154      };
00155 
00156   }
00157 }
00158 
00159 #include <pcl/registration/impl/transformation_estimation_svd.hpp>
00160 
00161 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */