transformation_estimation_dual_quaternion.hpp
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
#include <pcl/common/eigen.h>
#include <Eigen/Eigenvalues> // for EigenSolver
namespace pcl {
namespace registration {
template <typename PointSource, typename PointTarget, typename Scalar>
inline void
TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>::
estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
const pcl::PointCloud<PointTarget>& cloud_tgt,
Matrix4& transformation_matrix) const
{
const auto nr_points = cloud_src.size();
if (cloud_tgt.size() != nr_points) {
PCL_ERROR(
"[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] "
"Number or points in source (%zu) differs than target (%zu)!\n",
static_cast<std::size_t>(nr_points),
static_cast<std::size_t>(cloud_tgt.size()));
return;
}
ConstCloudIterator<PointSource> source_it(cloud_src);
ConstCloudIterator<PointTarget> target_it(cloud_tgt);
estimateRigidTransformation(source_it, target_it, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar>
void
TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>::
estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
const pcl::Indices& indices_src,
const pcl::PointCloud<PointTarget>& cloud_tgt,
Matrix4& transformation_matrix) const
{
if (indices_src.size() != cloud_tgt.size()) {
PCL_ERROR("[pcl::TransformationDQ::estimateRigidTransformation] Number or points "
"in source (%zu) differs than target (%zu)!\n",
indices_src.size(),
static_cast<std::size_t>(cloud_tgt.size()));
return;
}
ConstCloudIterator<PointSource> source_it(cloud_src, indices_src);
ConstCloudIterator<PointTarget> target_it(cloud_tgt);
estimateRigidTransformation(source_it, target_it, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar>
inline void
TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>::
estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
const pcl::Indices& indices_src,
const pcl::PointCloud<PointTarget>& cloud_tgt,
const pcl::Indices& indices_tgt,
Matrix4& transformation_matrix) const
{
if (indices_src.size() != indices_tgt.size()) {
PCL_ERROR(
"[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] "
"Number or points in source (%lu) differs than target (%lu)!\n",
indices_src.size(),
indices_tgt.size());
return;
}
ConstCloudIterator<PointSource> source_it(cloud_src, indices_src);
ConstCloudIterator<PointTarget> target_it(cloud_tgt, indices_tgt);
estimateRigidTransformation(source_it, target_it, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar>
void
TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>::
estimateRigidTransformation(const pcl::PointCloud<PointSource>& cloud_src,
const pcl::PointCloud<PointTarget>& cloud_tgt,
const pcl::Correspondences& correspondences,
Matrix4& transformation_matrix) const
{
ConstCloudIterator<PointSource> source_it(cloud_src, correspondences, true);
ConstCloudIterator<PointTarget> target_it(cloud_tgt, correspondences, false);
estimateRigidTransformation(source_it, target_it, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar>
inline void
TransformationEstimationDualQuaternion<PointSource, PointTarget, Scalar>::
estimateRigidTransformation(ConstCloudIterator<PointSource>& source_it,
ConstCloudIterator<PointTarget>& target_it,
Matrix4& transformation_matrix) const
{
const int npts = static_cast<int>(source_it.size());
transformation_matrix.setIdentity();
// dual quaternion optimization
Eigen::Matrix<double, 4, 4> C1 = Eigen::Matrix<double, 4, 4>::Zero();
Eigen::Matrix<double, 4, 4> C2 = Eigen::Matrix<double, 4, 4>::Zero();
double* c1 = C1.data();
double* c2 = C2.data();
for (int i = 0; i < npts; ++i) {
const PointSource& a = *source_it;
const PointTarget& b = *target_it;
const double axbx = a.x * b.x;
const double ayby = a.y * b.y;
const double azbz = a.z * b.z;
const double axby = a.x * b.y;
const double aybx = a.y * b.x;
const double axbz = a.x * b.z;
const double azbx = a.z * b.x;
const double aybz = a.y * b.z;
const double azby = a.z * b.y;
c1[0] += axbx - azbz - ayby;
c1[5] += ayby - azbz - axbx;
c1[10] += azbz - axbx - ayby;
c1[15] += axbx + ayby + azbz;
c1[1] += axby + aybx;
c1[2] += axbz + azbx;
c1[3] += aybz - azby;
c1[6] += azby + aybz;
c1[7] += azbx - axbz;
c1[11] += axby - aybx;
c2[1] += a.z + b.z;
c2[2] -= a.y + b.y;
c2[3] += a.x - b.x;
c2[6] += a.x + b.x;
c2[7] += a.y - b.y;
c2[11] += a.z - b.z;
source_it++;
target_it++;
}
c1[4] = c1[1];
c1[8] = c1[2];
c1[9] = c1[6];
c1[12] = c1[3];
c1[13] = c1[7];
c1[14] = c1[11];
c2[4] = -c2[1];
c2[8] = -c2[2];
c2[12] = -c2[3];
c2[9] = -c2[6];
c2[13] = -c2[7];
c2[14] = -c2[11];
C1 *= -2.0;
C2 *= 2.0;
const Eigen::Matrix<double, 4, 4> A =
(0.25 / double(npts)) * C2.transpose() * C2 - C1;
const Eigen::EigenSolver<Eigen::Matrix<double, 4, 4>> es(A);
ptrdiff_t i;
es.eigenvalues().real().maxCoeff(&i);
const Eigen::Matrix<double, 4, 1> qmat = es.eigenvectors().col(i).real();
const Eigen::Matrix<double, 4, 1> smat = -(0.5 / double(npts)) * C2 * qmat;
const Eigen::Quaternion<double> q(qmat(3), qmat(0), qmat(1), qmat(2));
const Eigen::Quaternion<double> s(smat(3), smat(0), smat(1), smat(2));
const Eigen::Quaternion<double> t = s * q.conjugate();
const Eigen::Matrix<double, 3, 3> R(q.toRotationMatrix());
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
transformation_matrix(i, j) = R(i, j);
transformation_matrix(0, 3) = -t.x();
transformation_matrix(1, 3) = -t.y();
transformation_matrix(2, 3) = -t.z();
}
} // namespace registration
} // namespace pcl
#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ */
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:121
pcl::ConstCloudIterator::size
std::size_t size() const
Size of the range the iterator is going through.
Definition: cloud_iterator.hpp:537
pcl::PointCloud< PointSource >
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::registration::TransformationEstimationDualQuaternion::estimateRigidTransformation
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...
Definition: transformation_estimation_dual_quaternion.hpp:54
pcl::registration::TransformationEstimationDualQuaternion::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_dual_quaternion.h:65
pcl
Definition: convolution.h:46
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133