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 PointSource, typename PointTarget, typename Scalar> inline void
pcl::registration::TransformationEstimationTranslation<PointSource, PointTarget, Scalar>::estimateRigidTransformation (
ConstCloudIterator<PointSource>& source_it,
ConstCloudIterator<PointTarget>& target_it,
Matrix4 &transformation_matrix) const
{
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 ();
getTransformationFromCorrelation (centroid_src, 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,
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);
}
