157 lines
7.3 KiB
C
157 lines
7.3 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/registration/transformation_estimation.h>
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#include <pcl/cloud_iterator.h>
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namespace pcl {
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namespace registration {
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/** @b TransformationEstimationSVD implements SVD-based estimation of
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* the transformation aligning the given correspondences.
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*
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* \note The class is templated on the source and target point types as well as on the
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* output scalar of the transformation matrix (i.e., float or double). Default: float.
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* \author Dirk Holz, Radu B. Rusu
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* \ingroup registration
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*/
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template <typename PointSource, typename PointTarget, typename Scalar = float>
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class TransformationEstimationSVD
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: public TransformationEstimation<PointSource, PointTarget, Scalar> {
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public:
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using Ptr = shared_ptr<TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
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using ConstPtr =
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shared_ptr<const TransformationEstimationSVD<PointSource, PointTarget, Scalar>>;
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using Matrix4 =
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typename TransformationEstimation<PointSource, PointTarget, Scalar>::Matrix4;
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/** \brief Constructor
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* \param[in] use_umeyama Toggles whether or not to use 3rd party software*/
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TransformationEstimationSVD(bool use_umeyama = true) : use_umeyama_(use_umeyama) {}
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~TransformationEstimationSVD(){};
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud using SVD. \param[in] cloud_src the source point cloud dataset
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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inline void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud using SVD. \param[in] cloud_src the source point cloud dataset
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* \param[in] indices_src the vector of indices describing the points of interest in
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* \a cloud_src
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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inline void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::Indices& indices_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud using SVD. \param[in] cloud_src the source point cloud dataset
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* \param[in] indices_src the vector of indices describing the points of interest in
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* \a cloud_src
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[in] indices_tgt the vector of indices describing the correspondences of the
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* interest points from \a indices_src
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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inline void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::Indices& indices_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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const pcl::Indices& indices_tgt,
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Matrix4& transformation_matrix) const override;
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* point cloud using SVD. \param[in] cloud_src the source point cloud dataset
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* \param[in] cloud_tgt the target point cloud dataset
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* \param[in] correspondences the vector of correspondences between source and target
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* point cloud \param[out] transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
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const pcl::PointCloud<PointTarget>& cloud_tgt,
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const pcl::Correspondences& correspondences,
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Matrix4& transformation_matrix) const override;
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protected:
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/** \brief Estimate a rigid rotation transformation between a source and a target
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* \param[in] source_it an iterator over the source point cloud dataset
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* \param[in] target_it an iterator over the target point cloud dataset
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* \param[out] transformation_matrix the resultant transformation matrix
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*/
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void
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estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
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ConstCloudIterator<PointTarget>& target_it,
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Matrix4& transformation_matrix) const;
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/** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src
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* * tgt' \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen
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* format \param[in] centroid_src the input source centroid, in Eigen format
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* \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format
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* \param[in] centroid_tgt the input target cloud, in Eigen format
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* \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix
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*/
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virtual void
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getTransformationFromCorrelation(
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const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_src_demean,
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const Eigen::Matrix<Scalar, 4, 1>& centroid_src,
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const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>& cloud_tgt_demean,
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const Eigen::Matrix<Scalar, 4, 1>& centroid_tgt,
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Matrix4& transformation_matrix) const;
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bool use_umeyama_;
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};
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} // namespace registration
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} // namespace pcl
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#include <pcl/registration/impl/transformation_estimation_svd.hpp>
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