40 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_HPP_
41 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_LLS_WEIGHTED_HPP_
43 #include <pcl/cloud_iterator.h>
49 namespace registration
52 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
inline void
56 Matrix4 &transformation_matrix)
const
58 std::size_t nr_points = cloud_src.
points.size ();
59 if (cloud_tgt.
points.size () != nr_points)
61 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.
points.size ());
65 if (weights_.size () != nr_points)
67 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or weights from the number of correspondences! Use setWeights () to set them.\n");
73 typename std::vector<Scalar>::const_iterator weights_it = weights_.begin ();
74 estimateRigidTransformation (source_it, target_it, weights_it, transformation_matrix);
78 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
void
81 const std::vector<int> &indices_src,
83 Matrix4 &transformation_matrix)
const
85 std::size_t nr_points = indices_src.size ();
86 if (cloud_tgt.
points.size () != nr_points)
88 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.
points.size ());
92 if (weights_.size () != nr_points)
94 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or weights from the number of correspondences! Use setWeights () to set them.\n");
101 typename std::vector<Scalar>::const_iterator weights_it = weights_.begin ();
102 estimateRigidTransformation (source_it, target_it, weights_it, transformation_matrix);
106 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
inline void
109 const std::vector<int> &indices_src,
111 const std::vector<int> &indices_tgt,
112 Matrix4 &transformation_matrix)
const
114 std::size_t nr_points = indices_src.size ();
115 if (indices_tgt.size () != nr_points)
117 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
121 if (weights_.size () != nr_points)
123 PCL_ERROR (
"[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or weights from the number of correspondences! Use setWeights () to set them.\n");
129 typename std::vector<Scalar>::const_iterator weights_it = weights_.begin ();
130 estimateRigidTransformation (source_it, target_it, weights_it, transformation_matrix);
134 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
inline void
139 Matrix4 &transformation_matrix)
const
143 std::vector<Scalar> weights (correspondences.size ());
144 for (std::size_t i = 0; i < correspondences.size (); ++i)
145 weights[i] = correspondences[i].weight;
146 typename std::vector<Scalar>::const_iterator weights_it = weights.begin ();
147 estimateRigidTransformation (source_it, target_it, weights_it, transformation_matrix);
151 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
inline void
154 const double & tx,
const double & ty,
const double & tz,
155 Matrix4 &transformation_matrix)
const
158 transformation_matrix = Eigen::Matrix<Scalar, 4, 4>::Zero ();
159 transformation_matrix (0, 0) =
static_cast<Scalar
> ( std::cos (gamma) * std::cos (beta));
160 transformation_matrix (0, 1) =
static_cast<Scalar
> (-sin (gamma) * std::cos (alpha) + std::cos (gamma) * sin (beta) * sin (alpha));
161 transformation_matrix (0, 2) =
static_cast<Scalar
> ( sin (gamma) * sin (alpha) + std::cos (gamma) * sin (beta) * std::cos (alpha));
162 transformation_matrix (1, 0) =
static_cast<Scalar
> ( sin (gamma) * std::cos (beta));
163 transformation_matrix (1, 1) =
static_cast<Scalar
> ( std::cos (gamma) * std::cos (alpha) + sin (gamma) * sin (beta) * sin (alpha));
164 transformation_matrix (1, 2) =
static_cast<Scalar
> (-std::cos (gamma) * sin (alpha) + sin (gamma) * sin (beta) * std::cos (alpha));
165 transformation_matrix (2, 0) =
static_cast<Scalar
> (-sin (beta));
166 transformation_matrix (2, 1) =
static_cast<Scalar
> ( std::cos (beta) * sin (alpha));
167 transformation_matrix (2, 2) =
static_cast<Scalar
> ( std::cos (beta) * std::cos (alpha));
169 transformation_matrix (0, 3) =
static_cast<Scalar
> (tx);
170 transformation_matrix (1, 3) =
static_cast<Scalar
> (ty);
171 transformation_matrix (2, 3) =
static_cast<Scalar
> (tz);
172 transformation_matrix (3, 3) =
static_cast<Scalar
> (1);
176 template <
typename Po
intSource,
typename Po
intTarget,
typename Scalar>
inline void
180 typename std::vector<Scalar>::const_iterator& weights_it,
181 Matrix4 &transformation_matrix)
const
183 using Vector6d = Eigen::Matrix<double, 6, 1>;
184 using Matrix6d = Eigen::Matrix<double, 6, 6>;
193 if (!std::isfinite (source_it->x) ||
194 !std::isfinite (source_it->y) ||
195 !std::isfinite (source_it->z) ||
196 !std::isfinite (target_it->x) ||
197 !std::isfinite (target_it->y) ||
198 !std::isfinite (target_it->z) ||
199 !std::isfinite (target_it->normal_x) ||
200 !std::isfinite (target_it->normal_y) ||
201 !std::isfinite (target_it->normal_z))
209 const float & sx = source_it->x;
210 const float & sy = source_it->y;
211 const float & sz = source_it->z;
212 const float & dx = target_it->x;
213 const float & dy = target_it->y;
214 const float & dz = target_it->z;
215 const float & nx = target_it->normal[0] * (*weights_it);
216 const float & ny = target_it->normal[1] * (*weights_it);
217 const float & nz = target_it->normal[2] * (*weights_it);
219 double a = nz*sy - ny*sz;
220 double b = nx*sz - nz*sx;
221 double c = ny*sx - nx*sy;
230 ATA.coeffRef (0) += a * a;
231 ATA.coeffRef (1) += a * b;
232 ATA.coeffRef (2) += a * c;
233 ATA.coeffRef (3) += a * nx;
234 ATA.coeffRef (4) += a * ny;
235 ATA.coeffRef (5) += a * nz;
236 ATA.coeffRef (7) += b * b;
237 ATA.coeffRef (8) += b * c;
238 ATA.coeffRef (9) += b * nx;
239 ATA.coeffRef (10) += b * ny;
240 ATA.coeffRef (11) += b * nz;
241 ATA.coeffRef (14) += c * c;
242 ATA.coeffRef (15) += c * nx;
243 ATA.coeffRef (16) += c * ny;
244 ATA.coeffRef (17) += c * nz;
245 ATA.coeffRef (21) += nx * nx;
246 ATA.coeffRef (22) += nx * ny;
247 ATA.coeffRef (23) += nx * nz;
248 ATA.coeffRef (28) += ny * ny;
249 ATA.coeffRef (29) += ny * nz;
250 ATA.coeffRef (35) += nz * nz;
252 double d = nx*dx + ny*dy + nz*dz - nx*sx - ny*sy - nz*sz;
253 ATb.coeffRef (0) += a * d;
254 ATb.coeffRef (1) += b * d;
255 ATb.coeffRef (2) += c * d;
256 ATb.coeffRef (3) += nx * d;
257 ATb.coeffRef (4) += ny * d;
258 ATb.coeffRef (5) += nz * d;
265 ATA.coeffRef (6) = ATA.coeff (1);
266 ATA.coeffRef (12) = ATA.coeff (2);
267 ATA.coeffRef (13) = ATA.coeff (8);
268 ATA.coeffRef (18) = ATA.coeff (3);
269 ATA.coeffRef (19) = ATA.coeff (9);
270 ATA.coeffRef (20) = ATA.coeff (15);
271 ATA.coeffRef (24) = ATA.coeff (4);
272 ATA.coeffRef (25) = ATA.coeff (10);
273 ATA.coeffRef (26) = ATA.coeff (16);
274 ATA.coeffRef (27) = ATA.coeff (22);
275 ATA.coeffRef (30) = ATA.coeff (5);
276 ATA.coeffRef (31) = ATA.coeff (11);
277 ATA.coeffRef (32) = ATA.coeff (17);
278 ATA.coeffRef (33) = ATA.coeff (23);
279 ATA.coeffRef (34) = ATA.coeff (29);
282 Vector6d x =
static_cast<Vector6d
> (ATA.inverse () * ATb);
285 constructTransformationMatrix (x (0), x (1), x (2), x (3), x (4), x (5), transformation_matrix);
Iterator class for point clouds with or without given indices.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences