Point Cloud Library (PCL)  1.11.1
transformation_estimation_dual_quaternion.hpp
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39 
40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
42 
43 #include <pcl/common/eigen.h>
44 
45 
46 namespace pcl
47 {
48 
49 namespace registration
50 {
51 
52 template <typename PointSource, typename PointTarget, typename Scalar> inline void
54  const pcl::PointCloud<PointSource> &cloud_src,
55  const pcl::PointCloud<PointTarget> &cloud_tgt,
56  Matrix4 &transformation_matrix) const
57 {
58  const auto nr_points = cloud_src.size ();
59  if (cloud_tgt.size () != nr_points)
60  {
61  PCL_ERROR(
62  "[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] "
63  "Number or points in source (%zu) differs than target (%zu)!\n",
64  static_cast<std::size_t>(nr_points),
65  static_cast<std::size_t>(cloud_tgt.size()));
66  return;
67  }
68 
69  ConstCloudIterator<PointSource> source_it (cloud_src);
70  ConstCloudIterator<PointTarget> target_it (cloud_tgt);
71  estimateRigidTransformation (source_it, target_it, transformation_matrix);
72 }
73 
74 
75 template <typename PointSource, typename PointTarget, typename Scalar> void
77  const pcl::PointCloud<PointSource> &cloud_src,
78  const std::vector<int> &indices_src,
79  const pcl::PointCloud<PointTarget> &cloud_tgt,
80  Matrix4 &transformation_matrix) const
81 {
82  if (indices_src.size () != cloud_tgt.size ())
83  {
84  PCL_ERROR("[pcl::TransformationDQ::estimateRigidTransformation] Number or points "
85  "in source (%zu) differs than target (%zu)!\n",
86  indices_src.size(),
87  static_cast<std::size_t>(cloud_tgt.size()));
88  return;
89  }
90 
91  ConstCloudIterator<PointSource> source_it (cloud_src, indices_src);
92  ConstCloudIterator<PointTarget> target_it (cloud_tgt);
93  estimateRigidTransformation (source_it, target_it, transformation_matrix);
94 }
95 
96 
97 template <typename PointSource, typename PointTarget, typename Scalar> inline void
99  const pcl::PointCloud<PointSource> &cloud_src,
100  const std::vector<int> &indices_src,
101  const pcl::PointCloud<PointTarget> &cloud_tgt,
102  const std::vector<int> &indices_tgt,
103  Matrix4 &transformation_matrix) const
104 {
105  if (indices_src.size () != indices_tgt.size ())
106  {
107  PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
108  return;
109  }
110 
111  ConstCloudIterator<PointSource> source_it (cloud_src, indices_src);
112  ConstCloudIterator<PointTarget> target_it (cloud_tgt, indices_tgt);
113  estimateRigidTransformation (source_it, target_it, transformation_matrix);
114 }
115 
116 
117 template <typename PointSource, typename PointTarget, typename Scalar> void
119  const pcl::PointCloud<PointSource> &cloud_src,
120  const pcl::PointCloud<PointTarget> &cloud_tgt,
121  const pcl::Correspondences &correspondences,
122  Matrix4 &transformation_matrix) const
123 {
124  ConstCloudIterator<PointSource> source_it (cloud_src, correspondences, true);
125  ConstCloudIterator<PointTarget> target_it (cloud_tgt, correspondences, false);
126  estimateRigidTransformation (source_it, target_it, transformation_matrix);
127 }
128 
129 
130 template <typename PointSource, typename PointTarget, typename Scalar> inline void
134  Matrix4 &transformation_matrix) const
135 {
136  const int npts = static_cast<int> (source_it.size ());
137 
138  transformation_matrix.setIdentity ();
139 
140  // dual quaternion optimization
141  Eigen::Matrix<double, 4, 4> C1 = Eigen::Matrix<double, 4, 4>::Zero ();
142  Eigen::Matrix<double, 4, 4> C2 = Eigen::Matrix<double, 4, 4>::Zero ();
143  double* c1 = C1.data ();
144  double* c2 = C2.data ();
145 
146  for (int i = 0; i < npts; ++i)
147  {
148  const PointSource& a = *source_it;
149  const PointTarget& b = *target_it;
150  const double axbx = a.x * b.x;
151  const double ayby = a.y * b.y;
152  const double azbz = a.z * b.z;
153  const double axby = a.x * b.y;
154  const double aybx = a.y * b.x;
155  const double axbz = a.x * b.z;
156  const double azbx = a.z * b.x;
157  const double aybz = a.y * b.z;
158  const double azby = a.z * b.y;
159  c1[0] += axbx - azbz - ayby;
160  c1[5] += ayby - azbz - axbx;
161  c1[10] += azbz - axbx - ayby;
162  c1[15] += axbx + ayby + azbz;
163  c1[1] += axby + aybx;
164  c1[2] += axbz + azbx;
165  c1[3] += aybz - azby;
166  c1[6] += azby + aybz;
167  c1[7] += azbx - axbz;
168  c1[11] += axby - aybx;
169 
170  c2[1] += a.z + b.z;
171  c2[2] -= a.y + b.y;
172  c2[3] += a.x - b.x;
173  c2[6] += a.x + b.x;
174  c2[7] += a.y - b.y;
175  c2[11] += a.z - b.z;
176  source_it++;
177  target_it++;
178  }
179 
180  c1[4] = c1[1];
181  c1[8] = c1[2];
182  c1[9] = c1[6];
183  c1[12] = c1[3];
184  c1[13] = c1[7];
185  c1[14] = c1[11];
186  c2[4] = -c2[1];
187  c2[8] = -c2[2];
188  c2[12] = -c2[3];
189  c2[9] = -c2[6];
190  c2[13] = -c2[7];
191  c2[14] = -c2[11];
192 
193  C1 *= -2.0;
194  C2 *= 2.0;
195 
196  const Eigen::Matrix<double, 4, 4> A = (0.25 / double (npts)) * C2.transpose () * C2 - C1;
197 
198  const Eigen::EigenSolver<Eigen::Matrix<double, 4, 4> > es (A);
199 
200  ptrdiff_t i;
201  es.eigenvalues ().real ().maxCoeff (&i);
202  const Eigen::Matrix<double, 4, 1> qmat = es.eigenvectors ().col (i).real ();
203  const Eigen::Matrix<double, 4, 1> smat = - (0.5 / double (npts)) * C2 * qmat;
204 
205  const Eigen::Quaternion<double> q (qmat (3), qmat (0), qmat (1), qmat (2));
206  const Eigen::Quaternion<double> s (smat (3), smat (0), smat (1), smat (2));
207 
208  const Eigen::Quaternion<double> t = s * q.conjugate ();
209 
210  const Eigen::Matrix<double, 3, 3> R (q.toRotationMatrix ());
211 
212  for (int i = 0; i < 3; ++i)
213  for (int j = 0; j < 3; ++j)
214  transformation_matrix (i, j) = R (i, j);
215 
216  transformation_matrix (0, 3) = - t.x ();
217  transformation_matrix (1, 3) = - t.y ();
218  transformation_matrix (2, 3) = - t.z ();
219 }
220 
221 } // namespace registration
222 } // namespace pcl
223 
224 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ */
225 
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimationDualQuaternion::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_dual_quaternion.h:63
pcl::registration::TransformationEstimationDualQuaternion::estimateRigidTransformation
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using dual quatern...
Definition: transformation_estimation_dual_quaternion.hpp:53
pcl::PointCloud< PointSource >
pcl::ConstCloudIterator::size
std::size_t size() const
Size of the range the iterator is going through.
Definition: cloud_iterator.hpp:537
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:459
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:121
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:90