Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, 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 Willow Garage, Inc. 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 * $Id: transformation_estimation_lm.h 3041 2011-11-01 04:44:41Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ 00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ 00041 00042 #include <pcl/registration/transformation_estimation.h> 00043 #include <pcl/registration/warp_point_rigid.h> 00044 #include <pcl/registration/distances.h> 00045 00046 namespace pcl 00047 { 00048 namespace registration 00049 { 00056 template <typename PointSource, typename PointTarget> 00057 class TransformationEstimationLM : public TransformationEstimation<PointSource, PointTarget> 00058 { 00059 typedef pcl::PointCloud<PointSource> PointCloudSource; 00060 typedef typename PointCloudSource::Ptr PointCloudSourcePtr; 00061 typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr; 00062 00063 typedef pcl::PointCloud<PointTarget> PointCloudTarget; 00064 00065 typedef PointIndices::Ptr PointIndicesPtr; 00066 typedef PointIndices::ConstPtr PointIndicesConstPtr; 00067 00068 public: 00069 TransformationEstimationLM () {}; 00070 virtual ~TransformationEstimationLM () {}; 00071 00077 inline void 00078 estimateRigidTransformation ( 00079 const pcl::PointCloud<PointSource> &cloud_src, 00080 const pcl::PointCloud<PointTarget> &cloud_tgt, 00081 Eigen::Matrix4f &transformation_matrix); 00082 00089 inline void 00090 estimateRigidTransformation ( 00091 const pcl::PointCloud<PointSource> &cloud_src, 00092 const std::vector<int> &indices_src, 00093 const pcl::PointCloud<PointTarget> &cloud_tgt, 00094 Eigen::Matrix4f &transformation_matrix); 00095 00104 inline void 00105 estimateRigidTransformation ( 00106 const pcl::PointCloud<PointSource> &cloud_src, 00107 const std::vector<int> &indices_src, 00108 const pcl::PointCloud<PointTarget> &cloud_tgt, 00109 const std::vector<int> &indices_tgt, 00110 Eigen::Matrix4f &transformation_matrix); 00111 00118 inline void 00119 estimateRigidTransformation ( 00120 const pcl::PointCloud<PointSource> &cloud_src, 00121 const pcl::PointCloud<PointTarget> &cloud_tgt, 00122 const pcl::Correspondences &correspondences, 00123 Eigen::Matrix4f &transformation_matrix); 00124 00128 void 00129 setWarpFunction (const boost::shared_ptr<WarpPointRigid<PointSource, PointTarget> > &warp_fcn) 00130 { 00131 warp_point_ = warp_fcn; 00132 } 00133 00134 protected: 00143 virtual double 00144 computeDistance (const PointSource &p_src, const PointTarget &p_tgt) 00145 { 00146 Vector4fMapConst s = p_src.getVector4fMap (); 00147 Vector4fMapConst t = p_tgt.getVector4fMap (); 00148 return (pcl::distances::l2 (s, t)); 00149 } 00150 00152 std::vector<double> weights_; 00153 00155 const PointCloudSource *tmp_src_; 00156 00158 const PointCloudTarget *tmp_tgt_; 00159 00161 const std::vector<int> *tmp_idx_src_; 00162 00164 const std::vector<int> *tmp_idx_tgt_; 00165 00167 boost::shared_ptr<WarpPointRigid<PointSource, PointTarget> > warp_point_; 00168 00170 template<typename _Scalar, int NX=Eigen::Dynamic, int NY=Eigen::Dynamic> 00171 struct Functor 00172 { 00173 typedef _Scalar Scalar; 00174 enum { 00175 InputsAtCompileTime = NX, 00176 ValuesAtCompileTime = NY 00177 }; 00178 typedef Eigen::Matrix<Scalar,InputsAtCompileTime,1> InputType; 00179 typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,1> ValueType; 00180 typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType; 00181 00182 const int m_inputs, m_values; 00183 00184 Functor () : m_inputs (InputsAtCompileTime), m_values (ValuesAtCompileTime) {} 00185 Functor (int inputs, int values) : m_inputs (inputs), m_values (values) {} 00186 00187 int inputs () const { return m_inputs; } 00188 int values () const { return m_values; } 00189 }; 00190 00191 struct OptimizationFunctor : Functor<double> 00192 { 00193 using Functor<double>::m_values; 00194 00201 OptimizationFunctor (int n, int m, TransformationEstimationLM<PointSource, PointTarget> *estimator) : 00202 Functor<double> (n,m), estimator_ (estimator) {} 00203 00209 int operator () (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const; 00210 00211 TransformationEstimationLM<PointSource, PointTarget> *estimator_; 00212 }; 00213 00214 struct OptimizationFunctorWithIndices : Functor<double> 00215 { 00216 using Functor<double>::m_values; 00217 00224 OptimizationFunctorWithIndices (int n, int m, TransformationEstimationLM *estimator) : 00225 Functor<double> (n,m), estimator_(estimator) {} 00226 00232 int operator () (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const; 00233 00234 TransformationEstimationLM<PointSource, PointTarget> *estimator_; 00235 }; 00236 }; 00237 } 00238 } 00239 00240 #include <pcl/registration/impl/transformation_estimation_lm.hpp> 00241 00242 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ */ 00243