Point Cloud Library (PCL)  1.9.1-dev
transformation_estimation_dual_quaternion.hpp
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39 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
40 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_
41 
42 #include <pcl/common/eigen.h>
43 
44 ///////////////////////////////////////////////////////////////////////////////////////////
45 template <typename PointSource, typename PointTarget, typename Scalar> inline void
47  const pcl::PointCloud<PointSource> &cloud_src,
48  const pcl::PointCloud<PointTarget> &cloud_tgt,
49  Matrix4 &transformation_matrix) const
50 {
51  size_t nr_points = cloud_src.points.size ();
52  if (cloud_tgt.points.size () != nr_points)
53  {
54  PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
55  return;
56  }
57 
58  ConstCloudIterator<PointSource> source_it (cloud_src);
59  ConstCloudIterator<PointTarget> target_it (cloud_tgt);
60  estimateRigidTransformation (source_it, target_it, transformation_matrix);
61 }
62 
63 ///////////////////////////////////////////////////////////////////////////////////////////
64 template <typename PointSource, typename PointTarget, typename Scalar> void
66  const pcl::PointCloud<PointSource> &cloud_src,
67  const std::vector<int> &indices_src,
68  const pcl::PointCloud<PointTarget> &cloud_tgt,
69  Matrix4 &transformation_matrix) const
70 {
71  if (indices_src.size () != cloud_tgt.points.size ())
72  {
73  PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
74  return;
75  }
76 
77  ConstCloudIterator<PointSource> source_it (cloud_src, indices_src);
78  ConstCloudIterator<PointTarget> target_it (cloud_tgt);
79  estimateRigidTransformation (source_it, target_it, transformation_matrix);
80 }
81 
82 ///////////////////////////////////////////////////////////////////////////////////////////
83 template <typename PointSource, typename PointTarget, typename Scalar> inline void
85  const pcl::PointCloud<PointSource> &cloud_src,
86  const std::vector<int> &indices_src,
87  const pcl::PointCloud<PointTarget> &cloud_tgt,
88  const std::vector<int> &indices_tgt,
89  Matrix4 &transformation_matrix) const
90 {
91  if (indices_src.size () != indices_tgt.size ())
92  {
93  PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
94  return;
95  }
96 
97  ConstCloudIterator<PointSource> source_it (cloud_src, indices_src);
98  ConstCloudIterator<PointTarget> target_it (cloud_tgt, indices_tgt);
99  estimateRigidTransformation (source_it, target_it, transformation_matrix);
100 }
101 
102 ///////////////////////////////////////////////////////////////////////////////////////////
103 template <typename PointSource, typename PointTarget, typename Scalar> void
105  const pcl::PointCloud<PointSource> &cloud_src,
106  const pcl::PointCloud<PointTarget> &cloud_tgt,
107  const pcl::Correspondences &correspondences,
108  Matrix4 &transformation_matrix) const
109 {
110  ConstCloudIterator<PointSource> source_it (cloud_src, correspondences, true);
111  ConstCloudIterator<PointTarget> target_it (cloud_tgt, correspondences, false);
112  estimateRigidTransformation (source_it, target_it, transformation_matrix);
113 }
114 
115 ///////////////////////////////////////////////////////////////////////////////////////////
116 template <typename PointSource, typename PointTarget, typename Scalar> inline void
120  Matrix4 &transformation_matrix) const
121 {
122  const int npts = static_cast<int> (source_it.size ());
123 
124  transformation_matrix.setIdentity ();
125 
126  // dual quaternion optimization
127  Eigen::Matrix<double, 4, 4> C1 = Eigen::Matrix<double, 4, 4>::Zero ();
128  Eigen::Matrix<double, 4, 4> C2 = Eigen::Matrix<double, 4, 4>::Zero ();
129  double* c1 = C1.data ();
130  double* c2 = C2.data ();
131 
132  for (int i = 0; i < npts; ++i)
133  {
134  const PointSource& a = *source_it;
135  const PointTarget& b = *target_it;
136  const double axbx = a.x * b.x;
137  const double ayby = a.y * b.y;
138  const double azbz = a.z * b.z;
139  const double axby = a.x * b.y;
140  const double aybx = a.y * b.x;
141  const double axbz = a.x * b.z;
142  const double azbx = a.z * b.x;
143  const double aybz = a.y * b.z;
144  const double azby = a.z * b.y;
145  c1[0] += axbx - azbz - ayby;
146  c1[5] += ayby - azbz - axbx;
147  c1[10] += azbz - axbx - ayby;
148  c1[15] += axbx + ayby + azbz;
149  c1[1] += axby + aybx;
150  c1[2] += axbz + azbx;
151  c1[3] += aybz - azby;
152  c1[6] += azby + aybz;
153  c1[7] += azbx - axbz;
154  c1[11] += axby - aybx;
155 
156  c2[1] += a.z + b.z;
157  c2[2] -= a.y + b.y;
158  c2[3] += a.x - b.x;
159  c2[6] += a.x + b.x;
160  c2[7] += a.y - b.y;
161  c2[11] += a.z - b.z;
162  source_it++;
163  target_it++;
164  }
165 
166  c1[4] = c1[1];
167  c1[8] = c1[2];
168  c1[9] = c1[6];
169  c1[12] = c1[3];
170  c1[13] = c1[7];
171  c1[14] = c1[11];
172  c2[4] = -c2[1];
173  c2[8] = -c2[2];
174  c2[12] = -c2[3];
175  c2[9] = -c2[6];
176  c2[13] = -c2[7];
177  c2[14] = -c2[11];
178 
179  C1 *= -2.0;
180  C2 *= 2.0;
181 
182  const Eigen::Matrix<double, 4, 4> A = (0.25 / double (npts)) * C2.transpose () * C2 - C1;
183 
184  const Eigen::EigenSolver<Eigen::Matrix<double, 4, 4> > es (A);
185 
186  ptrdiff_t i;
187  es.eigenvalues ().real ().maxCoeff (&i);
188  const Eigen::Matrix<double, 4, 1> qmat = es.eigenvectors ().col (i).real ();
189  const Eigen::Matrix<double, 4, 1> smat = - (0.5 / double (npts)) * C2 * qmat;
190 
191  const Eigen::Quaternion<double> q (qmat (3), qmat (0), qmat (1), qmat (2));
192  const Eigen::Quaternion<double> s (smat (3), smat (0), smat (1), smat (2));
193 
194  const Eigen::Quaternion<double> t = s * q.conjugate ();
195 
196  const Eigen::Matrix<double, 3, 3> R (q.toRotationMatrix ());
197 
198  for (int i = 0; i < 3; ++i)
199  for (int j = 0; j < 3; ++j)
200  transformation_matrix (i, j) = R (i, j);
201 
202  transformation_matrix (0, 3) = - t.x ();
203  transformation_matrix (1, 3) = - t.y ();
204  transformation_matrix (2, 3) = - t.z ();
205 }
206 
207 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ */
Iterator class for point clouds with or without given indices.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:423
size_t size() const
Size of the range the iterator is going through.
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...
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences