Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 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> ¢roid_src, 00149 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean, 00150 const Eigen::Matrix<Scalar, 4, 1> ¢roid_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_ */