Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, 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 * 00037 */ 00038 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_HPP_ 00039 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_HPP_ 00040 00042 template <typename PointSource, typename PointTarget> inline void 00043 pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation ( 00044 const pcl::PointCloud<PointSource> &cloud_src, 00045 const pcl::PointCloud<PointTarget> &cloud_tgt, 00046 Eigen::Matrix4f &transformation_matrix) 00047 { 00048 // <cloud_src,cloud_src> is the source dataset 00049 transformation_matrix.setIdentity (); 00050 00051 Eigen::Vector4f centroid_src, centroid_tgt; 00052 // Estimate the centroids of source, target 00053 compute3DCentroid (cloud_src, centroid_src); 00054 compute3DCentroid (cloud_tgt, centroid_tgt); 00055 00056 // Subtract the centroids from source, target 00057 Eigen::MatrixXf cloud_src_demean; 00058 demeanPointCloud (cloud_src, centroid_src, cloud_src_demean); 00059 00060 Eigen::MatrixXf cloud_tgt_demean; 00061 demeanPointCloud (cloud_tgt, centroid_tgt, cloud_tgt_demean); 00062 00063 getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix); 00064 } 00065 00067 template <typename PointSource, typename PointTarget> void 00068 pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation ( 00069 const pcl::PointCloud<PointSource> &cloud_src, 00070 const std::vector<int> &indices_src, 00071 const pcl::PointCloud<PointTarget> &cloud_tgt, 00072 Eigen::Matrix4f &transformation_matrix) 00073 { 00074 if (indices_src.size () != cloud_tgt.points.size ()) 00075 { 00076 PCL_ERROR ("[pcl::TransformationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", (unsigned long)indices_src.size (), (unsigned long)cloud_tgt.points.size ()); 00077 return; 00078 } 00079 00080 // <cloud_src,cloud_src> is the source dataset 00081 transformation_matrix.setIdentity (); 00082 00083 Eigen::Vector4f centroid_src, centroid_tgt; 00084 // Estimate the centroids of source, target 00085 compute3DCentroid (cloud_src, indices_src, centroid_src); 00086 compute3DCentroid (cloud_tgt, centroid_tgt); 00087 00088 // Subtract the centroids from source, target 00089 Eigen::MatrixXf cloud_src_demean; 00090 demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean); 00091 00092 Eigen::MatrixXf cloud_tgt_demean; 00093 demeanPointCloud (cloud_tgt, centroid_tgt, cloud_tgt_demean); 00094 00095 getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix); 00096 } 00097 00098 00100 template <typename PointSource, typename PointTarget> inline void 00101 pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation ( 00102 const pcl::PointCloud<PointSource> &cloud_src, 00103 const std::vector<int> &indices_src, 00104 const pcl::PointCloud<PointTarget> &cloud_tgt, 00105 const std::vector<int> &indices_tgt, 00106 Eigen::Matrix4f &transformation_matrix) 00107 { 00108 if (indices_src.size () != indices_tgt.size ()) 00109 { 00110 PCL_ERROR ("[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", (unsigned long)indices_src.size (), (unsigned long)indices_tgt.size ()); 00111 return; 00112 } 00113 00114 // <cloud_src,cloud_src> is the source dataset 00115 transformation_matrix.setIdentity (); 00116 00117 Eigen::Vector4f centroid_src, centroid_tgt; 00118 // Estimate the centroids of source, target 00119 compute3DCentroid (cloud_src, indices_src, centroid_src); 00120 compute3DCentroid (cloud_tgt, indices_tgt, centroid_tgt); 00121 00122 // Subtract the centroids from source, target 00123 Eigen::MatrixXf cloud_src_demean; 00124 demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean); 00125 00126 Eigen::MatrixXf cloud_tgt_demean; 00127 demeanPointCloud (cloud_tgt, indices_tgt, centroid_tgt, cloud_tgt_demean); 00128 00129 getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix); 00130 } 00131 00133 template <typename PointSource, typename PointTarget> inline void 00134 pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation ( 00135 const pcl::PointCloud<PointSource> &cloud_src, 00136 const pcl::PointCloud<PointTarget> &cloud_tgt, 00137 const pcl::Correspondences &correspondences, 00138 Eigen::Matrix4f &transformation_matrix) 00139 { 00140 std::vector<int> indices_src, indices_tgt; 00141 pcl::registration::getQueryIndices (correspondences, indices_src); 00142 pcl::registration::getMatchIndices (correspondences, indices_tgt); 00143 00144 // <cloud_src,cloud_src> is the source dataset 00145 Eigen::Vector4f centroid_src, centroid_tgt; 00146 // Estimate the centroids of source, target 00147 compute3DCentroid (cloud_src, indices_src, centroid_src); 00148 compute3DCentroid (cloud_tgt, indices_tgt, centroid_tgt); 00149 00150 // Subtract the centroids from source, target 00151 Eigen::MatrixXf cloud_src_demean; 00152 demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean); 00153 00154 Eigen::MatrixXf cloud_tgt_demean; 00155 demeanPointCloud (cloud_tgt, indices_tgt, centroid_tgt, cloud_tgt_demean); 00156 00157 getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix); 00158 } 00159 00161 template <typename PointSource, typename PointTarget> void 00162 pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::getTransformationFromCorrelation ( 00163 const Eigen::MatrixXf &cloud_src_demean, 00164 const Eigen::Vector4f ¢roid_src, 00165 const Eigen::MatrixXf &cloud_tgt_demean, 00166 const Eigen::Vector4f ¢roid_tgt, 00167 Eigen::Matrix4f &transformation_matrix) 00168 { 00169 transformation_matrix.setIdentity (); 00170 00171 // Assemble the correlation matrix H = source * target' 00172 Eigen::Matrix3f H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner<3, 3>(); 00173 00174 // Compute the Singular Value Decomposition 00175 Eigen::JacobiSVD<Eigen::Matrix3f> svd (H, Eigen::ComputeFullU | Eigen::ComputeFullV); 00176 Eigen::Matrix3f u = svd.matrixU (); 00177 Eigen::Matrix3f v = svd.matrixV (); 00178 00179 // Compute R = V * U' 00180 if (u.determinant () * v.determinant () < 0) 00181 { 00182 for (int x = 0; x < 3; ++x) 00183 v (x, 2) *= -1; 00184 } 00185 00186 Eigen::Matrix3f R = v * u.transpose (); 00187 00188 // Return the correct transformation 00189 transformation_matrix.topLeftCorner<3, 3> () = R; 00190 Eigen::Vector3f Rc = R * centroid_src.head<3> (); 00191 transformation_matrix.block <3, 1> (0, 3) = centroid_tgt.head<3> () - Rc; 00192 } 00193 00194 //#define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS pcl::registration::TransformationEstimationSVD<T,U>; 00195 00196 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_HPP_ */