Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012-, Open Perception Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_HPP_ 00038 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_HPP_ 00039 00040 /////////////////////////////////////////////////////////////////////////////////////////// 00041 template <typename PointSource, typename PointTarget, typename Scalar> inline void 00042 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation ( 00043 const pcl::PointCloud<PointSource> &cloud_src, 00044 const pcl::PointCloud<PointTarget> &cloud_tgt, 00045 Matrix4 &transformation_matrix) const 00046 { 00047 size_t nr_points = cloud_src.points.size (); 00048 if (cloud_tgt.points.size () != nr_points) 00049 { 00050 PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ()); 00051 return; 00052 } 00053 00054 ConstCloudIterator<PointSource> source_it (cloud_src); 00055 ConstCloudIterator<PointTarget> target_it (cloud_tgt); 00056 estimateRigidTransformation (source_it, target_it, transformation_matrix); 00057 } 00058 00059 /////////////////////////////////////////////////////////////////////////////////////////// 00060 template <typename PointSource, typename PointTarget, typename Scalar> void 00061 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation ( 00062 const pcl::PointCloud<PointSource> &cloud_src, 00063 const std::vector<int> &indices_src, 00064 const pcl::PointCloud<PointTarget> &cloud_tgt, 00065 Matrix4 &transformation_matrix) const 00066 { 00067 if (indices_src.size () != cloud_tgt.points.size ()) 00068 { 00069 PCL_ERROR ("[pcl::Transformation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ()); 00070 return; 00071 } 00072 00073 ConstCloudIterator<PointSource> source_it (cloud_src, indices_src); 00074 ConstCloudIterator<PointTarget> target_it (cloud_tgt); 00075 estimateRigidTransformation (source_it, target_it, transformation_matrix); 00076 } 00077 00078 00079 /////////////////////////////////////////////////////////////////////////////////////////// 00080 template <typename PointSource, typename PointTarget, typename Scalar> inline void 00081 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation ( 00082 const pcl::PointCloud<PointSource> &cloud_src, 00083 const std::vector<int> &indices_src, 00084 const pcl::PointCloud<PointTarget> &cloud_tgt, 00085 const std::vector<int> &indices_tgt, 00086 Matrix4 &transformation_matrix) const 00087 { 00088 if (indices_src.size () != indices_tgt.size ()) 00089 { 00090 PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ()); 00091 return; 00092 } 00093 00094 ConstCloudIterator<PointSource> source_it (cloud_src, indices_src); 00095 ConstCloudIterator<PointTarget> target_it (cloud_tgt, indices_tgt); 00096 estimateRigidTransformation (source_it, target_it, transformation_matrix); 00097 } 00098 00099 /////////////////////////////////////////////////////////////////////////////////////////// 00100 template <typename PointSource, typename PointTarget, typename Scalar> void 00101 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation ( 00102 const pcl::PointCloud<PointSource> &cloud_src, 00103 const pcl::PointCloud<PointTarget> &cloud_tgt, 00104 const pcl::Correspondences &correspondences, 00105 Matrix4 &transformation_matrix) const 00106 { 00107 ConstCloudIterator<PointSource> source_it (cloud_src, correspondences, true); 00108 ConstCloudIterator<PointTarget> target_it (cloud_tgt, correspondences, false); 00109 estimateRigidTransformation (source_it, target_it, transformation_matrix); 00110 } 00111 00112 /////////////////////////////////////////////////////////////////////////////////////////// 00113 template <typename PointSource, typename PointTarget, typename Scalar> inline void 00114 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation ( 00115 ConstCloudIterator<PointSource>& source_it, 00116 ConstCloudIterator<PointTarget>& target_it, 00117 Matrix4 &transformation_matrix) const 00118 { 00119 source_it.reset (); target_it.reset (); 00120 00121 Eigen::Matrix<Scalar, 4, 1> centroid_src, centroid_tgt; 00122 // Estimate the centroids of source, target 00123 compute3DCentroid (source_it, centroid_src); 00124 compute3DCentroid (target_it, centroid_tgt); 00125 source_it.reset (); target_it.reset (); 00126 00127 // ignore z component 00128 centroid_src[2] = 0.0f; 00129 centroid_tgt[2] = 0.0f; 00130 // Subtract the centroids from source, target 00131 Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> cloud_src_demean, cloud_tgt_demean; 00132 demeanPointCloud (source_it, centroid_src, cloud_src_demean); 00133 demeanPointCloud (target_it, centroid_tgt, cloud_tgt_demean); 00134 00135 getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix); 00136 } 00137 00138 /////////////////////////////////////////////////////////////////////////////////////////// 00139 template <typename PointSource, typename PointTarget, typename Scalar> void 00140 pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::getTransformationFromCorrelation ( 00141 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean, 00142 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src, 00143 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean, 00144 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt, 00145 Matrix4 &transformation_matrix) const 00146 { 00147 transformation_matrix.setIdentity (); 00148 00149 // Assemble the correlation matrix H = source * target' 00150 Eigen::Matrix<Scalar, 3, 3> H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner (3, 3); 00151 00152 float angle = atan2 ((H (0, 1) - H (1, 0)), (H(0, 0) + H (1, 1))); 00153 00154 Eigen::Matrix<Scalar, 3, 3> R (Eigen::Matrix<Scalar, 3, 3>::Identity ()); 00155 R (0, 0) = R (1, 1) = cos (angle); 00156 R (0, 1) = -sin (angle); 00157 R (1, 0) = sin (angle); 00158 00159 // Return the correct transformation 00160 transformation_matrix.topLeftCorner (3, 3).matrix () = R; 00161 const Eigen::Matrix<Scalar, 3, 1> Rc (R * centroid_src.head (3).matrix ()); 00162 transformation_matrix.block (0, 3, 3, 1).matrix () = centroid_tgt.head (3) - Rc; 00163 } 00164 00165 #endif // PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_2D_HPP_