template <typename PointSource, typename PointTarget> inline void
pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const std::vector<int> &indices_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
const std::vector<int> &indices_tgt,
Eigen::Matrix4f &transformation_matrix)
{
if (indices_src.size () != indices_tgt.size ())
{
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 ());
return;
}
// <cloud_src,cloud_src> is the source dataset
transformation_matrix.setIdentity ();
Eigen::Vector4f centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (cloud_src, indices_src, centroid_src);
compute3DCentroid (cloud_tgt, indices_tgt, centroid_tgt);
// Subtract the centroids from source, target
Eigen::MatrixXf cloud_src_demean;
demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean);
Eigen::MatrixXf cloud_tgt_demean;
demeanPointCloud (cloud_tgt, indices_tgt, centroid_tgt, cloud_tgt_demean);
getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);
}
template <typename PointSource, typename PointTarget> inline void
pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
const pcl::Correspondences &correspondences,
Eigen::Matrix4f &transformation_matrix)
{
std::vector<int> indices_src, indices_tgt;
pcl::registration::getQueryIndices (correspondences, indices_src);
pcl::registration::getMatchIndices (correspondences, indices_tgt);
// <cloud_src,cloud_src> is the source dataset
Eigen::Vector4f centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (cloud_src, indices_src, centroid_src);
compute3DCentroid (cloud_tgt, indices_tgt, centroid_tgt);
// Subtract the centroids from source, target
Eigen::MatrixXf cloud_src_demean;
demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean);
Eigen::MatrixXf cloud_tgt_demean;
demeanPointCloud (cloud_tgt, indices_tgt, centroid_tgt, cloud_tgt_demean);
getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar> inline void
pcl::registration::TransformationEstimationSVD<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
ConstCloudIterator<PointSource>& source_it,
ConstCloudIterator<PointTarget>& target_it,
Matrix4 &transformation_matrix) const
{
// Convert to Eigen format
const int npts = static_cast <int> (source_it.size ());
Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_src (3, npts);
Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_tgt (3, npts);
for (int i = 0; i < npts; ++i)
{
cloud_src (0, i) = source_it->x;
cloud_src (1, i) = source_it->y;
cloud_src (2, i) = source_it->z;
++source_it;
cloud_tgt (0, i) = target_it->x;
cloud_tgt (1, i) = target_it->y;
cloud_tgt (2, i) = target_it->z;
++target_it;
}
if (use_umeyama_)
{
// Call Umeyama directly from Eigen (PCL patched version until Eigen is released)
transformation_matrix = pcl::umeyama (cloud_src, cloud_tgt, false);
}
else
{
source_it.reset (); target_it.reset ();
// <cloud_src,cloud_src> is the source dataset
transformation_matrix.setIdentity ();
Eigen::Matrix<Scalar, 4, 1> centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (source_it, centroid_src);
compute3DCentroid (target_it, centroid_tgt);
source_it.reset (); target_it.reset ();
// Subtract the centroids from source, target
Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> cloud_src_demean, cloud_tgt_demean;
demeanPointCloud (source_it, centroid_src, cloud_src_demean);
demeanPointCloud (target_it, centroid_tgt, cloud_tgt_demean);
getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);
}
}
template <typename PointT, typename Scalar> void
pcl::demeanPointCloud (const pcl::PointCloud<PointT> &cloud_in,
const pcl::PointIndices& indices,
const Eigen::Matrix<Scalar, 4, 1> ¢roid,
pcl::PointCloud<PointT> &cloud_out)
{
return (demeanPointCloud (cloud_in, indices.indices, centroid, cloud_out));
}
template <typename PointT> void
pcl::SampleConsensusModelRegistration<PointT>::estimateRigidTransformationSVD (
const pcl::PointCloud<PointT> &cloud_src,
const std::vector<int> &indices_src,
const pcl::PointCloud<PointT> &cloud_tgt,
const std::vector<int> &indices_tgt,
Eigen::VectorXf &transform)
{
transform.resize (16);
Eigen::Vector4f centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (cloud_src, indices_src, centroid_src);
compute3DCentroid (cloud_tgt, indices_tgt, centroid_tgt);
// Subtract the centroids from source, target
Eigen::MatrixXf cloud_src_demean;
demeanPointCloud (cloud_src, indices_src, centroid_src, cloud_src_demean);
Eigen::MatrixXf cloud_tgt_demean;
demeanPointCloud (cloud_tgt, indices_tgt, centroid_tgt, cloud_tgt_demean);
// Assemble the correlation matrix H = source * target'
Eigen::Matrix3f H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner<3, 3>();
// Compute the Singular Value Decomposition
Eigen::JacobiSVD<Eigen::Matrix3f> svd (H, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix3f u = svd.matrixU ();
Eigen::Matrix3f v = svd.matrixV ();
// Compute R = V * U'
if (u.determinant () * v.determinant () < 0)
{
for (int x = 0; x < 3; ++x)
v (x, 2) *= -1;
}
Eigen::Matrix3f R = v * u.transpose ();
// Return the correct transformation
transform.segment<3> (0) = R.row (0); transform[12] = 0;
transform.segment<3> (4) = R.row (1); transform[13] = 0;
transform.segment<3> (8) = R.row (2); transform[14] = 0;
Eigen::Vector3f t = centroid_tgt.head<3> () - R * centroid_src.head<3> ();
transform[3] = t[0]; transform[7] = t[1]; transform[11] = t[2]; transform[15] = 1.0;
}
template <typename PointSource, typename PointTarget> inline void
pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>::estimateRigidTransformation (
const pcl::PointCloud<PointSource> &cloud_src,
const pcl::PointCloud<PointTarget> &cloud_tgt,
Eigen::Matrix4f &transformation_matrix)
{
// <cloud_src,cloud_src> is the source dataset
transformation_matrix.setIdentity ();
Eigen::Vector4f centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (cloud_src, centroid_src);
compute3DCentroid (cloud_tgt, centroid_tgt);
// Subtract the centroids from source, target
Eigen::MatrixXf cloud_src_demean;
demeanPointCloud (cloud_src, centroid_src, cloud_src_demean);
Eigen::MatrixXf cloud_tgt_demean;
demeanPointCloud (cloud_tgt, centroid_tgt, cloud_tgt_demean);
getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);
}
template <typename PointSource, typename PointTarget, typename Scalar> inline void
pcl::registration::TransformationEstimation2D<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
ConstCloudIterator<PointSource>& source_it,
ConstCloudIterator<PointTarget>& target_it,
Matrix4 &transformation_matrix) const
{
source_it.reset (); target_it.reset ();
Eigen::Matrix<Scalar, 4, 1> centroid_src, centroid_tgt;
// Estimate the centroids of source, target
compute3DCentroid (source_it, centroid_src);
compute3DCentroid (target_it, centroid_tgt);
source_it.reset (); target_it.reset ();
// ignore z component
centroid_src[2] = 0.0f;
centroid_tgt[2] = 0.0f;
// Subtract the centroids from source, target
Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> cloud_src_demean, cloud_tgt_demean;
demeanPointCloud (source_it, centroid_src, cloud_src_demean);
demeanPointCloud (target_it, centroid_tgt, cloud_tgt_demean);
getTransformationFromCorrelation (cloud_src_demean, centroid_src, cloud_tgt_demean, centroid_tgt, transformation_matrix);
}
template<typename PointT> bool
pcl::PCA<PointT>::initCompute ()
{
if(!Base::initCompute ())
{
PCL_THROW_EXCEPTION (InitFailedException, "[pcl::PCA::initCompute] failed");
return (false);
}
if(indices_->size () < 3)
{
PCL_THROW_EXCEPTION (InitFailedException, "[pcl::PCA::initCompute] number of points < 3");
return (false);
}
// Compute mean
mean_ = Eigen::Vector4f::Zero ();
compute3DCentroid (*input_, *indices_, mean_);
// Compute demeanished cloud
Eigen::MatrixXf cloud_demean;
demeanPointCloud (*input_, *indices_, mean_, cloud_demean);
assert (cloud_demean.cols () == int (indices_->size ()));
// Compute the product cloud_demean * cloud_demean^T
Eigen::Matrix3f alpha = static_cast<Eigen::Matrix3f> (cloud_demean.topRows<3> () * cloud_demean.topRows<3> ().transpose ());
// Compute eigen vectors and values
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> evd (alpha);
// Organize eigenvectors and eigenvalues in ascendent order
for (int i = 0; i < 3; ++i)
{
eigenvalues_[i] = evd.eigenvalues () [2-i];
eigenvectors_.col (i) = evd.eigenvectors ().col (2-i);
}
// If not basis only then compute the coefficients
if (!basis_only_)
coefficients_ = eigenvectors_.transpose() * cloud_demean.topRows<3> ();
compute_done_ = true;
return (true);
}
void SetTgtPoints(std::vector<Point3d>& out_cloud)
{
compute3DCentroid(out_cloud, centroid_tgt);
demeanPointCloud(out_cloud, centroid_tgt, cloud_tgt_demean);
}
void SetRefPoints(std::vector<Point3d>& in_cloud)
{
compute3DCentroid(in_cloud, centroid_ref);
demeanPointCloud(in_cloud, centroid_ref, cloud_ref_demean);
}
