Example #1
0
template <typename PointT> inline unsigned int
pcl::computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
                              Eigen::Matrix3f &covariance_matrix)
{
  // create the buffer on the stack which is much faster than using cloud.points[indices[i]] and centroid as a buffer
  Eigen::Matrix<float, 1, 6, Eigen::RowMajor> accu = Eigen::Matrix<float, 1, 6, Eigen::RowMajor>::Zero ();

  unsigned int point_count;
  if (cloud.is_dense)
  {
    point_count = static_cast<unsigned int> (cloud.size ());
    // For each point in the cloud
    for (size_t i = 0; i < point_count; ++i)
    {
      accu [0] += cloud[i].x * cloud[i].x;
      accu [1] += cloud[i].x * cloud[i].y;
      accu [2] += cloud[i].x * cloud[i].z;
      accu [3] += cloud[i].y * cloud[i].y;
      accu [4] += cloud[i].y * cloud[i].z;
      accu [5] += cloud[i].z * cloud[i].z;
    }
  }
  else
  {
    point_count = 0;
    for (size_t i = 0; i < cloud.points.size (); ++i)
    {
      if (!isFinite (cloud[i]))
        continue;

      accu [0] += cloud[i].x * cloud[i].x;
      accu [1] += cloud[i].x * cloud[i].y;
      accu [2] += cloud[i].x * cloud[i].z;
      accu [3] += cloud[i].y * cloud[i].y;
      accu [4] += cloud[i].y * cloud[i].z;
      accu [5] += cloud[i].z * cloud[i].z;
      ++point_count;
    }
  }

  if (point_count != 0)
  {
    accu /= static_cast<float> (point_count);
    covariance_matrix.coeffRef (0) = accu [0];
    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = accu [1];
    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = accu [2];
    covariance_matrix.coeffRef (4) = accu [3];
    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = accu [4];
    covariance_matrix.coeffRef (8) = accu [5];
  }
  return (point_count);
}
Example #2
0
template <typename PointT> inline unsigned int
pcl::computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
                              const std::vector<int> &indices,
                              Eigen::Matrix3f &covariance_matrix)
{
  Eigen::Matrix<float, 1, 6, Eigen::RowMajor> accu = Eigen::Matrix<float, 1, 6, Eigen::RowMajor>::Zero ();

  unsigned int point_count;
  if (cloud.is_dense)
  {
    point_count = static_cast<unsigned int> (indices.size ());
    for (std::vector<int>::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)
    {
      //const PointT& point = cloud[*iIt];
      accu [0] += cloud[*iIt].x * cloud[*iIt].x;
      accu [1] += cloud[*iIt].x * cloud[*iIt].y;
      accu [2] += cloud[*iIt].x * cloud[*iIt].z;
      accu [3] += cloud[*iIt].y * cloud[*iIt].y;
      accu [4] += cloud[*iIt].y * cloud[*iIt].z;
      accu [5] += cloud[*iIt].z * cloud[*iIt].z;
    }
  }
  else
  {
    point_count = 0;
    for (std::vector<int>::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)
    {
      if (!isFinite (cloud[*iIt]))
        continue;

      ++point_count;
      accu [0] += cloud[*iIt].x * cloud[*iIt].x;
      accu [1] += cloud[*iIt].x * cloud[*iIt].y;
      accu [2] += cloud[*iIt].x * cloud[*iIt].z;
      accu [3] += cloud[*iIt].y * cloud[*iIt].y;
      accu [4] += cloud[*iIt].y * cloud[*iIt].z;
      accu [5] += cloud[*iIt].z * cloud[*iIt].z;
    }
  }
  if (point_count != 0)
  {
    accu /= static_cast<float> (point_count);
    covariance_matrix.coeffRef (0) = accu [0];
    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = accu [1];
    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = accu [2];
    covariance_matrix.coeffRef (4) = accu [3];
    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = accu [4];
    covariance_matrix.coeffRef (8) = accu [5];
  }
  return (point_count);
}
void 
pcl::getCameraMatrixFromProjectionMatrix (
    const Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, 
    Eigen::Matrix3f& camera_matrix)
{
  Eigen::Matrix3f KR = projection_matrix.topLeftCorner <3, 3> ();

  Eigen::Matrix3f KR_KRT = KR * KR.transpose ();
  
  Eigen::Matrix3f cam = KR_KRT / KR_KRT.coeff (8);

  memset (&(camera_matrix.coeffRef (0)), 0, sizeof (Eigen::Matrix3f::Scalar) * 9);
  camera_matrix.coeffRef (8) = 1.0;
  
  if (camera_matrix.Flags & Eigen::RowMajorBit)
  {
    camera_matrix.coeffRef (2) = cam.coeff (2);
    camera_matrix.coeffRef (5) = cam.coeff (5);
    camera_matrix.coeffRef (4) = static_cast<float> (std::sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
    camera_matrix.coeffRef (1) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
    camera_matrix.coeffRef (0) = static_cast<float> (std::sqrt (cam.coeff (0) - camera_matrix.coeff (1) * camera_matrix.coeff (1) - cam.coeff (2) * cam.coeff (2)));
  }
  else
  {
    camera_matrix.coeffRef (6) = cam.coeff (2);
    camera_matrix.coeffRef (7) = cam.coeff (5);
    camera_matrix.coeffRef (4) = static_cast<float> (std::sqrt (cam.coeff (4) - cam.coeff (5) * cam.coeff (5)));
    camera_matrix.coeffRef (3) = (cam.coeff (1) - cam.coeff (2) * cam.coeff (5)) / camera_matrix.coeff (4);
    camera_matrix.coeffRef (0) = static_cast<float> (std::sqrt (cam.coeff (0) - camera_matrix.coeff (3) * camera_matrix.coeff (3) - cam.coeff (2) * cam.coeff (2)));
  }
}
Example #4
0
template <typename PointT> inline unsigned int
pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
                                const std::vector<int> &indices,
                                Eigen::Matrix3f &covariance_matrix,
                                Eigen::Vector4f &centroid)
{
  // create the buffer on the stack which is much faster than using cloud.points[indices[i]] and centroid as a buffer
  Eigen::Matrix<float, 1, 9, Eigen::RowMajor> accu = Eigen::Matrix<float, 1, 9, Eigen::RowMajor>::Zero ();
  size_t point_count;
  if (cloud.is_dense)
  {
    point_count = indices.size ();
    for (std::vector<int>::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)
    {
      //const PointT& point = cloud[*iIt];
      accu [0] += cloud[*iIt].x * cloud[*iIt].x;
      accu [1] += cloud[*iIt].x * cloud[*iIt].y;
      accu [2] += cloud[*iIt].x * cloud[*iIt].z;
      accu [3] += cloud[*iIt].y * cloud[*iIt].y;
      accu [4] += cloud[*iIt].y * cloud[*iIt].z;
      accu [5] += cloud[*iIt].z * cloud[*iIt].z;
      accu [6] += cloud[*iIt].x;
      accu [7] += cloud[*iIt].y;
      accu [8] += cloud[*iIt].z;
    }
  }
  else
  {
    point_count = 0;
    for (std::vector<int>::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)
    {
      if (!isFinite (cloud[*iIt]))
        continue;

      ++point_count;
      accu [0] += cloud[*iIt].x * cloud[*iIt].x;
      accu [1] += cloud[*iIt].x * cloud[*iIt].y;
      accu [2] += cloud[*iIt].x * cloud[*iIt].z;
      accu [3] += cloud[*iIt].y * cloud[*iIt].y; // 4
      accu [4] += cloud[*iIt].y * cloud[*iIt].z; // 5
      accu [5] += cloud[*iIt].z * cloud[*iIt].z; // 8
      accu [6] += cloud[*iIt].x;
      accu [7] += cloud[*iIt].y;
      accu [8] += cloud[*iIt].z;
    }
  }

  accu /= static_cast<float> (point_count);
  //Eigen::Vector3f vec = accu.tail<3> ();
  //centroid.head<3> () = vec;//= accu.tail<3> ();
  //centroid.head<3> () = accu.tail<3> ();    -- does not compile with Clang 3.0
  centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];
  centroid[3] = 0;
  covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];
  covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];
  covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];
  covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];
  covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];
  covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];
  covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);
  covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);
  covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);

  return (static_cast<unsigned int> (point_count));
}
Example #5
0
template <typename PointT> inline unsigned int
pcl::computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
                                     Eigen::Matrix3f &covariance_matrix,
                                     Eigen::Vector4f &centroid)
{
  // create the buffer on the stack which is much faster than using cloud.points[indices[i]] and centroid as a buffer
  Eigen::Matrix<float, 1, 9, Eigen::RowMajor> accu = Eigen::Matrix<float, 1, 9, Eigen::RowMajor>::Zero ();
  unsigned point_count;
  if (cloud.is_dense)
  {
    point_count = cloud.size ();
    // For each point in the cloud
    for (size_t i = 0; i < point_count; ++i)
    {
      accu [0] += cloud[i].x * cloud[i].x;
      accu [1] += cloud[i].x * cloud[i].y;
      accu [2] += cloud[i].x * cloud[i].z;
      accu [3] += cloud[i].y * cloud[i].y; // 4
      accu [4] += cloud[i].y * cloud[i].z; // 5
      accu [5] += cloud[i].z * cloud[i].z; // 8
      accu [6] += cloud[i].x;
      accu [7] += cloud[i].y;
      accu [8] += cloud[i].z;
    }
  }
  else
  {
    point_count = 0;
    for (size_t i = 0; i < cloud.points.size (); ++i)
    {
      if (!isFinite (cloud[i]))
        continue;

      accu [0] += cloud[i].x * cloud[i].x;
      accu [1] += cloud[i].x * cloud[i].y;
      accu [2] += cloud[i].x * cloud[i].z;
      accu [3] += cloud[i].y * cloud[i].y;
      accu [4] += cloud[i].y * cloud[i].z;
      accu [5] += cloud[i].z * cloud[i].z;
      accu [6] += cloud[i].x;
      accu [7] += cloud[i].y;
      accu [8] += cloud[i].z;
      ++point_count;
    }
  }
  accu /= (float) point_count;
  if (point_count != 0)
  {
    centroid.head<3> () = accu.tail<3> ();
    centroid[3] = 0;
    covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];
    covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];
    covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];
    covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];
    covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];
    covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];
    covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);
    covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);
    covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);
  }
  return (point_count);
}