transformation_estimation_dq.hpp
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#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
#include <pcl/common/eigen.h>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> inline void
pcl::registration::TransformationEstimationDQ<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
Matrix4 &transformation_matrix) const
{
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
PCL_ERROR ("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.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
pcl::registration::TransformationEstimationDQ<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const std::vector<int> &indices_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
Matrix4 &transformation_matrix) const
{
if (indices_src.size () != cloud_tgt.points.size ())
{
PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.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
pcl::registration::TransformationEstimationDQ<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const std::vector<int> &indices_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
const std::vector<int> &indices_tgt,
Matrix4 &transformation_matrix) const
{
if (indices_src.size () != indices_tgt.size ())
{
PCL_ERROR ("[pcl::TransformationEstimationDQ::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
pcl::registration::TransformationEstimationDQ<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
pcl::registration::TransformationEstimationDQ<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<Scalar,4,4> C1 = Eigen::Matrix<Scalar,4,4>::Zero();
Eigen::Matrix<Scalar,4,4> C2 = Eigen::Matrix<Scalar,4,4>::Zero();
Scalar *c1 = C1.data();
Scalar *c2 = C2.data();
for( int i=0; i<npts; i++ ) {
const PointSource &a = *source_it;
const PointTarget &b = *target_it;
const Scalar axbx = a.x*b.x;
const Scalar ayby = a.y*b.y;
const Scalar azbz = a.z*b.z;
const Scalar axby = a.x*b.y;
const Scalar aybx = a.y*b.x;
const Scalar axbz = a.x*b.z;
const Scalar azbx = a.z*b.x;
const Scalar aybz = a.y*b.z;
const Scalar 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 *= -2.0f;
C2 *= 2.0f;
const Eigen::Matrix<Scalar,4,4> A = (0.25f/float(npts))*C2.transpose()*C2 - C1;
const Eigen::EigenSolver< Eigen::Matrix<Scalar,4,4> > es(A);
ptrdiff_t i;
es.eigenvalues().real().maxCoeff(&i);
const Eigen::Matrix<Scalar,4,1> qmat = es.eigenvectors().col(i).real();
const Eigen::Matrix<Scalar,4,1> smat = -(0.5f/float(npts))*C2*qmat;
const Eigen::Quaternion<Scalar> q( qmat(3), qmat(0), qmat(1), qmat(2) );
const Eigen::Quaternion<Scalar> s( smat(3), smat(0), smat(1), smat(2) );
const Eigen::Quaternion<Scalar> t = s*q.conjugate();
const Eigen::Matrix<Scalar,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();
}
#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::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:410
pcl::ConstCloudIterator::size
size_t size() const
Size of the range the iterator is going through.
Definition: cloud_iterator.hpp:537
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:65
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationDQ::estimateRigidTransformation
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...
Definition: transformation_estimation_dq.hpp:46