lum.hpp
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* $Id: lum.hpp 5663 2012-05-02 13:49:39Z florentinus $
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#ifndef PCL_REGISTRATION_IMPL_LUM_HPP_
#define PCL_REGISTRATION_IMPL_LUM_HPP_
#include <tuple>
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline void
pcl::registration::LUM<PointT>::setLoopGraph (const SLAMGraphPtr &slam_graph)
{
slam_graph_ = slam_graph;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline typename pcl::registration::LUM<PointT>::SLAMGraphPtr
pcl::registration::LUM<PointT>::getLoopGraph () const
{
return (slam_graph_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> typename pcl::registration::LUM<PointT>::SLAMGraph::vertices_size_type
pcl::registration::LUM<PointT>::getNumVertices () const
{
return (num_vertices (*slam_graph_));
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::registration::LUM<PointT>::setMaxIterations (int max_iterations)
{
max_iterations_ = max_iterations;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline int
pcl::registration::LUM<PointT>::getMaxIterations () const
{
return (max_iterations_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::registration::LUM<PointT>::setConvergenceThreshold (float convergence_threshold)
{
convergence_threshold_ = convergence_threshold;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline float
pcl::registration::LUM<PointT>::getConvergenceThreshold () const
{
return (convergence_threshold_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> typename pcl::registration::LUM<PointT>::Vertex
pcl::registration::LUM<PointT>::addPointCloud (const PointCloudPtr &cloud, const Eigen::Vector6f &pose)
{
Vertex v = add_vertex (*slam_graph_);
(*slam_graph_)[v].cloud_ = cloud;
if (v == 0 && pose != Eigen::Vector6f::Zero ())
{
PCL_WARN("[pcl::registration::LUM::addPointCloud] The pose estimate is ignored for the first cloud in the graph since that will become the reference pose.\n");
(*slam_graph_)[v].pose_ = Eigen::Vector6f::Zero ();
return (v);
}
(*slam_graph_)[v].pose_ = pose;
return (v);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline void
pcl::registration::LUM<PointT>::setPointCloud (const Vertex &vertex, const PointCloudPtr &cloud)
{
if (vertex >= getNumVertices ())
{
PCL_ERROR("[pcl::registration::LUM::setPointCloud] You are attempting to set a point cloud to a non-existing graph vertex.\n");
return;
}
(*slam_graph_)[vertex].cloud_ = cloud;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline typename pcl::registration::LUM<PointT>::PointCloudPtr
pcl::registration::LUM<PointT>::getPointCloud (const Vertex &vertex) const
{
if (vertex >= getNumVertices ())
{
PCL_ERROR("[pcl::registration::LUM::getPointCloud] You are attempting to get a point cloud from a non-existing graph vertex.\n");
return (PointCloudPtr ());
}
return ((*slam_graph_)[vertex].cloud_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline void
pcl::registration::LUM<PointT>::setPose (const Vertex &vertex, const Eigen::Vector6f &pose)
{
if (vertex >= getNumVertices ())
{
PCL_ERROR("[pcl::registration::LUM::setPose] You are attempting to set a pose estimate to a non-existing graph vertex.\n");
return;
}
if (vertex == 0)
{
PCL_ERROR("[pcl::registration::LUM::setPose] The pose estimate is ignored for the first cloud in the graph since that will become the reference pose.\n");
return;
}
(*slam_graph_)[vertex].pose_ = pose;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline Eigen::Vector6f
pcl::registration::LUM<PointT>::getPose (const Vertex &vertex) const
{
if (vertex >= getNumVertices ())
{
PCL_ERROR("[pcl::registration::LUM::getPose] You are attempting to get a pose estimate from a non-existing graph vertex.\n");
return (Eigen::Vector6f::Zero ());
}
return ((*slam_graph_)[vertex].pose_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline Eigen::Affine3f
pcl::registration::LUM<PointT>::getTransformation (const Vertex &vertex) const
{
Eigen::Vector6f pose = getPose (vertex);
return (pcl::getTransformation (pose (0), pose (1), pose (2), pose (3), pose (4), pose (5)));
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::registration::LUM<PointT>::setCorrespondences (const Vertex &source_vertex, const Vertex &target_vertex, const pcl::CorrespondencesPtr &corrs)
{
if (source_vertex >= getNumVertices () || target_vertex >= getNumVertices () || source_vertex == target_vertex)
{
PCL_ERROR("[pcl::registration::LUM::setCorrespondences] You are attempting to set a set of correspondences between non-existing or identical graph vertices.\n");
return;
}
Edge e;
bool present;
std::tie (e, present) = edge (source_vertex, target_vertex, *slam_graph_);
if (!present)
std::tie (e, present) = add_edge (source_vertex, target_vertex, *slam_graph_);
(*slam_graph_)[e].corrs_ = corrs;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline pcl::CorrespondencesPtr
pcl::registration::LUM<PointT>::getCorrespondences (const Vertex &source_vertex, const Vertex &target_vertex) const
{
if (source_vertex >= getNumVertices () || target_vertex >= getNumVertices ())
{
PCL_ERROR("[pcl::registration::LUM::getCorrespondences] You are attempting to get a set of correspondences between non-existing graph vertices.\n");
return (pcl::CorrespondencesPtr ());
}
Edge e;
bool present;
std::tie (e, present) = edge (source_vertex, target_vertex, *slam_graph_);
if (!present)
{
PCL_ERROR("[pcl::registration::LUM::getCorrespondences] You are attempting to get a set of correspondences from a non-existing graph edge.\n");
return (pcl::CorrespondencesPtr ());
}
return ((*slam_graph_)[e].corrs_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::registration::LUM<PointT>::compute ()
{
int n = static_cast<int> (getNumVertices ());
if (n < 2)
{
PCL_ERROR("[pcl::registration::LUM::compute] The slam graph needs at least 2 vertices.\n");
return;
}
for (int i = 0; i < max_iterations_; ++i)
{
// Linearized computation of C^-1 and C^-1*D and convergence checking for all edges in the graph (results stored in slam_graph_)
typename SLAMGraph::edge_iterator e, e_end;
for (std::tie (e, e_end) = edges (*slam_graph_); e != e_end; ++e)
computeEdge (*e);
// Declare matrices G and B
Eigen::MatrixXf G = Eigen::MatrixXf::Zero (6 * (n - 1), 6 * (n - 1));
Eigen::VectorXf B = Eigen::VectorXf::Zero (6 * (n - 1));
// Start at 1 because 0 is the reference pose
for (int vi = 1; vi != n; ++vi)
{
for (int vj = 0; vj != n; ++vj)
{
// Attempt to use the forward edge, otherwise use backward edge, otherwise there was no edge
Edge e;
bool present1, present2;
std::tie (e, present1) = edge (vi, vj, *slam_graph_);
if (!present1)
{
std::tie (e, present2) = edge (vj, vi, *slam_graph_);
if (!present2)
continue;
}
// Fill in elements of G and B
if (vj > 0)
G.block (6 * (vi - 1), 6 * (vj - 1), 6, 6) = -(*slam_graph_)[e].cinv_;
G.block (6 * (vi - 1), 6 * (vi - 1), 6, 6) += (*slam_graph_)[e].cinv_;
B.segment (6 * (vi - 1), 6) += (present1 ? 1 : -1) * (*slam_graph_)[e].cinvd_;
}
}
// Computation of the linear equation system: GX = B
// TODO investigate accuracy vs. speed tradeoff and find the best solving method for our type of linear equation (sparse)
Eigen::VectorXf X = G.colPivHouseholderQr ().solve (B);
// Update the poses
float sum = 0.0;
for (int vi = 1; vi != n; ++vi)
{
Eigen::Vector6f difference_pose = static_cast<Eigen::Vector6f> (-incidenceCorrection (getPose (vi)).inverse () * X.segment (6 * (vi - 1), 6));
sum += difference_pose.norm ();
setPose (vi, getPose (vi) + difference_pose);
}
// Convergence check
if (sum <= convergence_threshold_ * static_cast<float> (n - 1))
return;
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> typename pcl::registration::LUM<PointT>::PointCloudPtr
pcl::registration::LUM<PointT>::getTransformedCloud (const Vertex &vertex) const
{
PointCloudPtr out (new PointCloud);
pcl::transformPointCloud (*getPointCloud (vertex), *out, getTransformation (vertex));
return (out);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> typename pcl::registration::LUM<PointT>::PointCloudPtr
pcl::registration::LUM<PointT>::getConcatenatedCloud () const
{
PointCloudPtr out (new PointCloud);
typename SLAMGraph::vertex_iterator v, v_end;
for (std::tie (v, v_end) = vertices (*slam_graph_); v != v_end; ++v)
{
PointCloud temp;
pcl::transformPointCloud (*getPointCloud (*v), temp, getTransformation (*v));
*out += temp;
}
return (out);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::registration::LUM<PointT>::computeEdge (const Edge &e)
{
// Get necessary local data from graph
PointCloudPtr source_cloud = (*slam_graph_)[source (e, *slam_graph_)].cloud_;
PointCloudPtr target_cloud = (*slam_graph_)[target (e, *slam_graph_)].cloud_;
Eigen::Vector6f source_pose = (*slam_graph_)[source (e, *slam_graph_)].pose_;
Eigen::Vector6f target_pose = (*slam_graph_)[target (e, *slam_graph_)].pose_;
pcl::CorrespondencesPtr corrs = (*slam_graph_)[e].corrs_;
// Build the average and difference vectors for all correspondences
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > corrs_aver (corrs->size ());
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > corrs_diff (corrs->size ());
int oci = 0; // oci = output correspondence iterator
for (int ici = 0; ici != static_cast<int> (corrs->size ()); ++ici) // ici = input correspondence iterator
{
// Compound the point pair onto the current pose
Eigen::Vector3f source_compounded = pcl::getTransformation (source_pose (0), source_pose (1), source_pose (2), source_pose (3), source_pose (4), source_pose (5)) * source_cloud->points[(*corrs)[ici].index_query].getVector3fMap ();
Eigen::Vector3f target_compounded = pcl::getTransformation (target_pose (0), target_pose (1), target_pose (2), target_pose (3), target_pose (4), target_pose (5)) * target_cloud->points[(*corrs)[ici].index_match].getVector3fMap ();
// NaN points can not be passed to the remaining computational pipeline
if (!std::isfinite (source_compounded (0)) || !std::isfinite (source_compounded (1)) || !std::isfinite (source_compounded (2)) || !std::isfinite (target_compounded (0)) || !std::isfinite (target_compounded (1)) || !std::isfinite (target_compounded (2)))
continue;
// Compute the point pair average and difference and store for later use
corrs_aver[oci] = 0.5 * (source_compounded + target_compounded);
corrs_diff[oci] = source_compounded - target_compounded;
oci++;
}
corrs_aver.resize (oci);
corrs_diff.resize (oci);
// Need enough valid correspondences to get a good triangulation
if (oci < 3)
{
PCL_WARN("[pcl::registration::LUM::compute] The correspondences between vertex %d and %d do not contain enough valid correspondences to be considered for computation.\n", source (e, *slam_graph_), target (e, *slam_graph_));
(*slam_graph_)[e].cinv_ = Eigen::Matrix6f::Zero ();
(*slam_graph_)[e].cinvd_ = Eigen::Vector6f::Zero ();
return;
}
// Build the matrices M'M and M'Z
Eigen::Matrix6f MM = Eigen::Matrix6f::Zero ();
Eigen::Vector6f MZ = Eigen::Vector6f::Zero ();
for (int ci = 0; ci != oci; ++ci) // ci = correspondence iterator
{
// Fast computation of summation elements of M'M
MM (0, 4) -= corrs_aver[ci] (1);
MM (0, 5) += corrs_aver[ci] (2);
MM (1, 3) -= corrs_aver[ci] (2);
MM (1, 4) += corrs_aver[ci] (0);
MM (2, 3) += corrs_aver[ci] (1);
MM (2, 5) -= corrs_aver[ci] (0);
MM (3, 4) -= corrs_aver[ci] (0) * corrs_aver[ci] (2);
MM (3, 5) -= corrs_aver[ci] (0) * corrs_aver[ci] (1);
MM (4, 5) -= corrs_aver[ci] (1) * corrs_aver[ci] (2);
MM (3, 3) += corrs_aver[ci] (1) * corrs_aver[ci] (1) + corrs_aver[ci] (2) * corrs_aver[ci] (2);
MM (4, 4) += corrs_aver[ci] (0) * corrs_aver[ci] (0) + corrs_aver[ci] (1) * corrs_aver[ci] (1);
MM (5, 5) += corrs_aver[ci] (0) * corrs_aver[ci] (0) + corrs_aver[ci] (2) * corrs_aver[ci] (2);
// Fast computation of M'Z
MZ (0) += corrs_diff[ci] (0);
MZ (1) += corrs_diff[ci] (1);
MZ (2) += corrs_diff[ci] (2);
MZ (3) += corrs_aver[ci] (1) * corrs_diff[ci] (2) - corrs_aver[ci] (2) * corrs_diff[ci] (1);
MZ (4) += corrs_aver[ci] (0) * corrs_diff[ci] (1) - corrs_aver[ci] (1) * corrs_diff[ci] (0);
MZ (5) += corrs_aver[ci] (2) * corrs_diff[ci] (0) - corrs_aver[ci] (0) * corrs_diff[ci] (2);
}
// Remaining elements of M'M
MM (0, 0) = MM (1, 1) = MM (2, 2) = static_cast<float> (oci);
MM (4, 0) = MM (0, 4);
MM (5, 0) = MM (0, 5);
MM (3, 1) = MM (1, 3);
MM (4, 1) = MM (1, 4);
MM (3, 2) = MM (2, 3);
MM (5, 2) = MM (2, 5);
MM (4, 3) = MM (3, 4);
MM (5, 3) = MM (3, 5);
MM (5, 4) = MM (4, 5);
// Compute pose difference estimation
Eigen::Vector6f D = static_cast<Eigen::Vector6f> (MM.inverse () * MZ);
// Compute s^2
float ss = 0.0f;
for (int ci = 0; ci != oci; ++ci) // ci = correspondence iterator
ss += static_cast<float> (std::pow (corrs_diff[ci] (0) - (D (0) + corrs_aver[ci] (2) * D (5) - corrs_aver[ci] (1) * D (4)), 2.0f)
+ std::pow (corrs_diff[ci] (1) - (D (1) + corrs_aver[ci] (0) * D (4) - corrs_aver[ci] (2) * D (3)), 2.0f)
+ std::pow (corrs_diff[ci] (2) - (D (2) + corrs_aver[ci] (1) * D (3) - corrs_aver[ci] (0) * D (5)), 2.0f));
// When reaching the limitations of computation due to linearization
if (ss < 0.0000000000001 || !std::isfinite (ss))
{
(*slam_graph_)[e].cinv_ = Eigen::Matrix6f::Zero ();
(*slam_graph_)[e].cinvd_ = Eigen::Vector6f::Zero ();
return;
}
// Store the results in the slam graph
(*slam_graph_)[e].cinv_ = MM * (1.0f / ss);
(*slam_graph_)[e].cinvd_ = MZ * (1.0f / ss);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> inline Eigen::Matrix6f
pcl::registration::LUM<PointT>::incidenceCorrection (const Eigen::Vector6f &pose)
{
Eigen::Matrix6f out = Eigen::Matrix6f::Identity ();
float cx = std::cos (pose (3)), sx = sinf (pose (3)), cy = std::cos (pose (4)), sy = sinf (pose (4));
out (0, 4) = pose (1) * sx - pose (2) * cx;
out (0, 5) = pose (1) * cx * cy + pose (2) * sx * cy;
out (1, 3) = pose (2);
out (1, 4) = -pose (0) * sx;
out (1, 5) = -pose (0) * cx * cy + pose (2) * sy;
out (2, 3) = -pose (1);
out (2, 4) = pose (0) * cx;
out (2, 5) = -pose (0) * sx * cy - pose (1) * sy;
out (3, 5) = sy;
out (4, 4) = sx;
out (4, 5) = cx * cy;
out (5, 4) = cx;
out (5, 5) = -sx * cy;
return (out);
}
#define PCL_INSTANTIATE_LUM(T) template class PCL_EXPORTS pcl::registration::LUM<T>;
#endif // PCL_REGISTRATION_IMPL_LUM_HPP_
pcl::registration::LUM::getCorrespondences
pcl::CorrespondencesPtr getCorrespondences(const Vertex &source_vertex, const Vertex &target_vertex) const
Return a set of correspondences from one of the SLAM graph's edges.
Definition: lum.hpp:191
pcl::registration::LUM::getConvergenceThreshold
float getConvergenceThreshold() const
Get the convergence threshold for the compute() method.
Definition: lum.hpp:90
pcl::registration::LUM::getConcatenatedCloud
PointCloudPtr getConcatenatedCloud() const
Return a concatenated point cloud of all the SLAM graph's point clouds compounded onto their current ...
Definition: lum.hpp:284
pcl::registration::LUM::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: lum.h:117
pcl::registration::LUM
Globally Consistent Scan Matching based on an algorithm by Lu and Milios.
Definition: lum.h:110
pcl::registration::LUM::setPose
void setPose(const Vertex &vertex, const Eigen::Vector6f &pose)
Change a pose estimate on one of the SLAM graph's vertices.
Definition: lum.hpp:137
pcl::registration::LUM::Vertex
typename SLAMGraph::vertex_descriptor Vertex
Definition: lum.h:136
pcl::registration::LUM::setCorrespondences
void setCorrespondences(const Vertex &source_vertex, const Vertex &target_vertex, const pcl::CorrespondencesPtr &corrs)
Add/change a set of correspondences for one of the SLAM graph's edges.
Definition: lum.hpp:174
Eigen::Matrix6f
Eigen::Matrix< float, 6, 6 > Matrix6f
Definition: lum.h:54
pcl::getTransformation
void getTransformation(Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw, Eigen::Transform< Scalar, 3, Eigen::Affine > &t)
Create a transformation from the given translation and Euler angles (XYZ-convention)
Definition: eigen.hpp:602
pcl::registration::LUM::setLoopGraph
void setLoopGraph(const SLAMGraphPtr &slam_graph)
Set the internal SLAM graph structure.
Definition: lum.hpp:48
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::registration::LUM::compute
void compute()
Perform LUM's globally consistent scan matching.
Definition: lum.hpp:211
pcl::registration::LUM::incidenceCorrection
Eigen::Matrix6f incidenceCorrection(const Eigen::Vector6f &pose)
Returns a pose corrected 6DoF incidence matrix.
Definition: lum.hpp:403
pcl::registration::LUM::Edge
typename SLAMGraph::edge_descriptor Edge
Definition: lum.h:137
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Transform< Scalar, 3, Eigen::Affine > &transform, bool copy_all_fields=true)
Apply an affine transform defined by an Eigen Transform.
Definition: transforms.hpp:215
Eigen::Vector6f
Eigen::Matrix< float, 6, 1 > Vector6f
Definition: lum.h:53
pcl::registration::LUM::SLAMGraphPtr
shared_ptr< SLAMGraph > SLAMGraphPtr
Definition: lum.h:135
pcl::registration::LUM::getPose
Eigen::Vector6f getPose(const Vertex &vertex) const
Return a pose estimate from one of the SLAM graph's vertices.
Definition: lum.hpp:154
pcl::registration::LUM::getTransformation
Eigen::Affine3f getTransformation(const Vertex &vertex) const
Return a pose estimate from one of the SLAM graph's vertices as an affine transformation matrix.
Definition: lum.hpp:166
pcl::registration::LUM::setPointCloud
void setPointCloud(const Vertex &vertex, const PointCloudPtr &cloud)
Change a point cloud on one of the SLAM graph's vertices.
Definition: lum.hpp:113
pcl::registration::LUM::getLoopGraph
SLAMGraphPtr getLoopGraph() const
Get the internal SLAM graph structure.
Definition: lum.hpp:55
pcl::registration::LUM::getNumVertices
SLAMGraph::vertices_size_type getNumVertices() const
Get the number of vertices in the SLAM graph.
Definition: lum.hpp:62
pcl::registration::LUM::getTransformedCloud
PointCloudPtr getTransformedCloud(const Vertex &vertex) const
Return a point cloud from one of the SLAM graph's vertices compounded onto its current pose estimate.
Definition: lum.hpp:275
pcl::registration::LUM::computeEdge
void computeEdge(const Edge &e)
Linearized computation of C^-1 and C^-1*D (results stored in slam_graph_).
Definition: lum.hpp:299
pcl::registration::LUM::getPointCloud
PointCloudPtr getPointCloud(const Vertex &vertex) const
Return a point cloud from one of the SLAM graph's vertices.
Definition: lum.hpp:125
pcl::B
Definition: norms.h:54
pcl::registration::LUM::getMaxIterations
int getMaxIterations() const
Get the maximum number of iterations for the compute() method.
Definition: lum.hpp:76
pcl::registration::LUM::setMaxIterations
void setMaxIterations(int max_iterations)
Set the maximum number of iterations for the compute() method.
Definition: lum.hpp:69
pcl::registration::LUM::setConvergenceThreshold
void setConvergenceThreshold(float convergence_threshold)
Set the convergence threshold for the compute() method.
Definition: lum.hpp:83
pcl::registration::LUM::addPointCloud
Vertex addPointCloud(const PointCloudPtr &cloud, const Eigen::Vector6f &pose=Eigen::Vector6f::Zero())
Add a new point cloud to the SLAM graph.
Definition: lum.hpp:97
pcl::CorrespondencesPtr
shared_ptr< Correspondences > CorrespondencesPtr
Definition: correspondence.h:89