transformation_estimation_3point.hpp
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#ifndef PCL_REGISTRATION_IMPL_TRANSFORMATION_ESTIMATION_3POINT_H_
#define PCL_REGISTRATION_IMPL_TRANSFORMATION_ESTIMATION_3POINT_H_
#include <pcl/common/eigen.h>
#include <pcl/registration/transformation_estimation_3point.h>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> inline void
pcl::registration::TransformationEstimation3Point<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
Matrix4 &transformation_matrix) const
{
if (cloud_src.points.size () != 3 || cloud_tgt.points.size () != 3)
{
PCL_ERROR ("[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of points in source (%lu) and target (%lu) must be 3!\n",
cloud_src.points.size (), 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::TransformationEstimation3Point<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 () != 3 || cloud_tgt.points.size () != 3)
{
PCL_ERROR ("[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of indices in source (%lu) and points in target (%lu) must be 3!\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::TransformationEstimation3Point<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 () != 3 || indices_tgt.size () != 3)
{
PCL_ERROR ("[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of indices in source (%lu) and target (%lu) must be 3!\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::TransformationEstimation3Point<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
const pcl::Correspondences &correspondences,
Matrix4 &transformation_matrix) const
{
if (correspondences.size () != 3)
{
PCL_ERROR ("[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of correspondences (%lu) must be 3!\n",
correspondences.size ());
return;
}
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::TransformationEstimation3Point<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
ConstCloudIterator<PointSource>& source_it,
ConstCloudIterator<PointTarget>& target_it,
Matrix4 &transformation_matrix) const
{
transformation_matrix.setIdentity ();
source_it.reset ();
target_it.reset ();
Eigen::Matrix <Scalar, 4, 1> source_mean, target_mean;
pcl::compute3DCentroid (source_it, source_mean);
pcl::compute3DCentroid (target_it, target_mean);
source_it.reset ();
target_it.reset ();
Eigen::Matrix <Scalar, Eigen::Dynamic, Eigen::Dynamic> source_demean, target_demean;
pcl::demeanPointCloud (source_it, source_mean, source_demean, 3);
pcl::demeanPointCloud (target_it, target_mean, target_demean, 3);
source_it.reset ();
target_it.reset ();
Eigen::Matrix <Scalar, 3, 1> s1 = source_demean.col (1).head (3) - source_demean.col (0).head (3);
s1.normalize ();
Eigen::Matrix <Scalar, 3, 1> s2 = source_demean.col (2).head (3) - source_demean.col (0).head (3);
s2 -= s2.dot (s1) * s1;
s2.normalize ();
Eigen::Matrix <Scalar, 3, 3> source_rot;
source_rot.col (0) = s1;
source_rot.col (1) = s2;
source_rot.col (2) = s1.cross (s2);
Eigen::Matrix <Scalar, 3, 1> t1 = target_demean.col (1).head (3) - target_demean.col (0).head (3);
t1.normalize ();
Eigen::Matrix <Scalar, 3, 1> t2 = target_demean.col (2).head (3) - target_demean.col (0).head (3);
t2 -= t2.dot (t1) * t1;
t2.normalize ();
Eigen::Matrix <Scalar, 3, 3> target_rot;
target_rot.col (0) = t1;
target_rot.col (1) = t2;
target_rot.col (2) = t1.cross (t2);
//Eigen::Matrix <Scalar, 3, 3> R = source_rot * target_rot.transpose ();
Eigen::Matrix <Scalar, 3, 3> R = target_rot * source_rot.transpose ();
transformation_matrix.topLeftCorner (3, 3) = R;
//transformation_matrix.block (0, 3, 3, 1) = source_mean.head (3) - R * target_mean.head (3);
transformation_matrix.block (0, 3, 3, 1) = target_mean.head (3) - R * source_mean.head (3);
}
//#define PCL_INSTANTIATE_TransformationEstimation3Point(T,U) template class PCL_EXPORTS pcl::registration::TransformationEstimation3Point<T,U>;
#endif // PCL_REGISTRATION_IMPL_TRANSFORMATION_ESTIMATION_3POINT_H_
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::demeanPointCloud
void demeanPointCloud(ConstCloudIterator< PointT > &cloud_iterator, const Eigen::Matrix< Scalar, 4, 1 > &centroid, pcl::PointCloud< PointT > &cloud_out, int npts=0)
Subtract a centroid from a point cloud and return the de-meaned representation.
Definition: centroid.hpp:631
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::ConstCloudIterator::reset
void reset()
Definition: cloud_iterator.hpp:544
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:65
pcl::registration::TransformationEstimation3Point::estimateRigidTransformation
virtual 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.
Definition: transformation_estimation_3point.hpp:45
pcl::PointCloud< PointSource >
pcl::compute3DCentroid
unsigned int compute3DCentroid(ConstCloudIterator< PointT > &cloud_iterator, Eigen::Matrix< Scalar, 4, 1 > &centroid)
Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.
Definition: centroid.hpp:50