Point Cloud Library (PCL)  1.10.1
transformation_estimation_point_to_plane_weighted.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/registration/transformation_estimation_point_to_plane.h>
43 #include <pcl/registration/warp_point_rigid.h>
44 #include <pcl/registration/distances.h>
45 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** @b TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation
51  * that minimizes the point-to-plane distance between the given correspondences. In addition to the
52  * TransformationEstimationPointToPlane class, this version takes per-correspondence weights and optimizes accordingly.
53  *
54  * \author Alexandru-Eugen Ichim
55  * \ingroup registration
56  */
57  template <typename PointSource, typename PointTarget, typename MatScalar = float>
58  class TransformationEstimationPointToPlaneWeighted : public TransformationEstimationPointToPlane<PointSource, PointTarget, MatScalar>
59  {
61  using PointCloudSourcePtr = typename PointCloudSource::Ptr;
62  using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;
63 
65 
66  using PointIndicesPtr = PointIndices::Ptr;
67  using PointIndicesConstPtr = PointIndices::ConstPtr;
68 
69  public:
72 
73  using VectorX = Eigen::Matrix<MatScalar, Eigen::Dynamic, 1>;
74  using Vector4 = Eigen::Matrix<MatScalar, 4, 1>;
76 
77  /** \brief Constructor. */
79 
80  /** \brief Copy constructor.
81  * \param[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this
82  */
84  tmp_src_ (src.tmp_src_),
85  tmp_tgt_ (src.tmp_tgt_),
91  {};
92 
93  /** \brief Copy operator.
94  * \param[in] src the TransformationEstimationPointToPlaneWeighted object to copy into this
95  */
98  {
99  tmp_src_ = src.tmp_src_;
100  tmp_tgt_ = src.tmp_tgt_;
102  tmp_idx_tgt_ = src.tmp_idx_tgt_;
103  warp_point_ = src.warp_point_;
106  }
107 
108  /** \brief Destructor. */
110 
111  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
112  * \param[in] cloud_src the source point cloud dataset
113  * \param[in] cloud_tgt the target point cloud dataset
114  * \param[out] transformation_matrix the resultant transformation matrix
115  * \note Uses the weights given by setWeights.
116  */
117  inline void
119  const pcl::PointCloud<PointSource> &cloud_src,
120  const pcl::PointCloud<PointTarget> &cloud_tgt,
121  Matrix4 &transformation_matrix) const;
122 
123  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
124  * \param[in] cloud_src the source point cloud dataset
125  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
126  * \param[in] cloud_tgt the target point cloud dataset
127  * \param[out] transformation_matrix the resultant transformation matrix
128  * \note Uses the weights given by setWeights.
129  */
130  inline void
132  const pcl::PointCloud<PointSource> &cloud_src,
133  const std::vector<int> &indices_src,
134  const pcl::PointCloud<PointTarget> &cloud_tgt,
135  Matrix4 &transformation_matrix) const;
136 
137  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
138  * \param[in] cloud_src the source point cloud dataset
139  * \param[in] indices_src the vector of indices describing the points of interest in \a cloud_src
140  * \param[in] cloud_tgt the target point cloud dataset
141  * \param[in] indices_tgt the vector of indices describing the correspondences of the interest points from
142  * \a indices_src
143  * \param[out] transformation_matrix the resultant transformation matrix
144  * \note Uses the weights given by setWeights.
145  */
146  void
148  const pcl::PointCloud<PointSource> &cloud_src,
149  const std::vector<int> &indices_src,
150  const pcl::PointCloud<PointTarget> &cloud_tgt,
151  const std::vector<int> &indices_tgt,
152  Matrix4 &transformation_matrix) const;
153 
154  /** \brief Estimate a rigid rotation transformation between a source and a target point cloud using LM.
155  * \param[in] cloud_src the source point cloud dataset
156  * \param[in] cloud_tgt the target point cloud dataset
157  * \param[in] correspondences the vector of correspondences between source and target point cloud
158  * \param[out] transformation_matrix the resultant transformation matrix
159  * \note Uses the weights given by setWeights.
160  */
161  void
163  const pcl::PointCloud<PointSource> &cloud_src,
164  const pcl::PointCloud<PointTarget> &cloud_tgt,
165  const pcl::Correspondences &correspondences,
166  Matrix4 &transformation_matrix) const;
167 
168 
169  inline void
170  setWeights (const std::vector<double> &weights)
171  { correspondence_weights_ = weights; }
172 
173  /// use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods
174  inline void
175  setUseCorrespondenceWeights (bool use_correspondence_weights)
176  { use_correspondence_weights_ = use_correspondence_weights; }
177 
178  /** \brief Set the function we use to warp points. Defaults to rigid 6D warp.
179  * \param[in] warp_fcn a shared pointer to an object that warps points
180  */
181  void
183  { warp_point_ = warp_fcn; }
184 
185  protected:
187  mutable std::vector<double> correspondence_weights_;
188 
189  /** \brief Temporary pointer to the source dataset. */
190  mutable const PointCloudSource *tmp_src_;
191 
192  /** \brief Temporary pointer to the target dataset. */
193  mutable const PointCloudTarget *tmp_tgt_;
194 
195  /** \brief Temporary pointer to the source dataset indices. */
196  mutable const std::vector<int> *tmp_idx_src_;
197 
198  /** \brief Temporary pointer to the target dataset indices. */
199  mutable const std::vector<int> *tmp_idx_tgt_;
200 
201  /** \brief The parameterized function used to warp the source to the target. */
203 
204  /** Base functor all the models that need non linear optimization must
205  * define their own one and implement operator() (const Eigen::VectorXd& x, Eigen::VectorXd& fvec)
206  * or operator() (const Eigen::VectorXf& x, Eigen::VectorXf& fvec) depending on the chosen _Scalar
207  */
208  template<typename _Scalar, int NX=Eigen::Dynamic, int NY=Eigen::Dynamic>
209  struct Functor
210  {
211  using Scalar = _Scalar;
212  enum
213  {
216  };
217  using InputType = Eigen::Matrix<_Scalar,InputsAtCompileTime,1>;
218  using ValueType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,1>;
219  using JacobianType = Eigen::Matrix<_Scalar,ValuesAtCompileTime,InputsAtCompileTime>;
220 
221  /** \brief Empty Constructor. */
223 
224  /** \brief Constructor
225  * \param[in] m_data_points number of data points to evaluate.
226  */
227  Functor (int m_data_points) : m_data_points_ (m_data_points) {}
228 
229  /** \brief Destructor. */
230  virtual ~Functor () {}
231 
232  /** \brief Get the number of values. */
233  int
234  values () const { return (m_data_points_); }
235 
236  protected:
238  };
239 
240  struct OptimizationFunctor : public Functor<MatScalar>
241  {
243 
244  /** Functor constructor
245  * \param[in] m_data_points the number of data points to evaluate
246  * \param[in,out] estimator pointer to the estimator object
247  */
248  OptimizationFunctor (int m_data_points,
250  : Functor<MatScalar> (m_data_points), estimator_ (estimator)
251  {}
252 
253  /** Copy constructor
254  * \param[in] src the optimization functor to copy into this
255  */
257  Functor<MatScalar> (src.m_data_points_), estimator_ ()
258  {
259  *this = src;
260  }
261 
262  /** Copy operator
263  * \param[in] src the optimization functor to copy into this
264  */
265  inline OptimizationFunctor&
267  {
269  estimator_ = src.estimator_;
270  return (*this);
271  }
272 
273  /** \brief Destructor. */
274  virtual ~OptimizationFunctor () {}
275 
276  /** Fill fvec from x. For the current state vector x fill the f values
277  * \param[in] x state vector
278  * \param[out] fvec f values vector
279  */
280  int
281  operator () (const VectorX &x, VectorX &fvec) const;
282 
284  };
285 
286  struct OptimizationFunctorWithIndices : public Functor<MatScalar>
287  {
289 
290  /** Functor constructor
291  * \param[in] m_data_points the number of data points to evaluate
292  * \param[in,out] estimator pointer to the estimator object
293  */
294  OptimizationFunctorWithIndices (int m_data_points,
296  : Functor<MatScalar> (m_data_points), estimator_ (estimator)
297  {}
298 
299  /** Copy constructor
300  * \param[in] src the optimization functor to copy into this
301  */
303  : Functor<MatScalar> (src.m_data_points_), estimator_ ()
304  {
305  *this = src;
306  }
307 
308  /** Copy operator
309  * \param[in] src the optimization functor to copy into this
310  */
313  {
315  estimator_ = src.estimator_;
316  return (*this);
317  }
318 
319  /** \brief Destructor. */
321 
322  /** Fill fvec from x. For the current state vector x fill the f values
323  * \param[in] x state vector
324  * \param[out] fvec f values vector
325  */
326  int
327  operator () (const VectorX &x, VectorX &fvec) const;
328 
330  };
331  public:
333  };
334  }
335 }
336 
337 #include <pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp>
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::m_data_points_
int m_data_points_
Definition: transformation_estimation_point_to_plane_weighted.h:237
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::registration::TransformationEstimationLM::Functor< MatScalar >::ValueType
Eigen::Matrix< MatScalar, ValuesAtCompileTime, 1 > ValueType
Definition: transformation_estimation_lm.h:235
pcl::registration::TransformationEstimationPointToPlaneWeighted::operator=
TransformationEstimationPointToPlaneWeighted & operator=(const TransformationEstimationPointToPlaneWeighted &src)
Copy operator.
Definition: transformation_estimation_point_to_plane_weighted.h:97
pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_src_
const std::vector< int > * tmp_idx_src_
Temporary pointer to the source dataset indices.
Definition: transformation_estimation_point_to_plane_weighted.h:196
pcl::registration::TransformationEstimationPointToPlaneWeighted::Ptr
shared_ptr< TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > > Ptr
Definition: transformation_estimation_point_to_plane_weighted.h:70
pcl::registration::TransformationEstimationPointToPlane
TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation...
Definition: transformation_estimation_point_to_plane.h:58
pcl::registration::TransformationEstimationPointToPlaneWeighted::TransformationEstimationPointToPlaneWeighted
TransformationEstimationPointToPlaneWeighted()
Constructor.
Definition: transformation_estimation_point_to_plane_weighted.hpp:50
pcl::registration::TransformationEstimationLM::Functor< MatScalar >::InputType
Eigen::Matrix< MatScalar, InputsAtCompileTime, 1 > InputType
Definition: transformation_estimation_lm.h:234
pcl::registration::TransformationEstimationPointToPlaneWeighted::~TransformationEstimationPointToPlaneWeighted
virtual ~TransformationEstimationPointToPlaneWeighted()
Destructor.
Definition: transformation_estimation_point_to_plane_weighted.h:109
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::ValuesAtCompileTime
Definition: transformation_estimation_point_to_plane_weighted.h:215
pcl::registration::TransformationEstimationLM::Functor< MatScalar >::Scalar
MatScalar Scalar
Definition: transformation_estimation_lm.h:228
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices
Definition: transformation_estimation_point_to_plane_weighted.h:286
pcl::registration::TransformationEstimationLM::Vector4
Eigen::Matrix< MatScalar, 4, 1 > Vector4
Definition: transformation_estimation_lm.h:76
pcl::registration::TransformationEstimationPointToPlaneWeighted::Matrix4
typename TransformationEstimation< PointSource, PointTarget, MatScalar >::Matrix4 Matrix4
Definition: transformation_estimation_point_to_plane_weighted.h:75
pcl::registration::TransformationEstimationPointToPlaneWeighted
TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transf...
Definition: transformation_estimation_point_to_plane_weighted.h:58
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationPointToPlaneWeighted::warp_point_
pcl::registration::WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr warp_point_
The parameterized function used to warp the source to the target.
Definition: transformation_estimation_point_to_plane_weighted.h:202
pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_tgt_
const std::vector< int > * tmp_idx_tgt_
Temporary pointer to the target dataset indices.
Definition: transformation_estimation_point_to_plane_weighted.h:199
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::operator()
int operator()(const VectorX &x, VectorX &fvec) const
Fill fvec from x.
Definition: transformation_estimation_point_to_plane_weighted.hpp:275
pcl::registration::TransformationEstimationPointToPlaneWeighted::correspondence_weights_
std::vector< double > correspondence_weights_
Definition: transformation_estimation_point_to_plane_weighted.h:187
pcl::registration::TransformationEstimationLM::Matrix4
typename TransformationEstimation< PointSource, PointTarget, MatScalar >::Matrix4 Matrix4
Definition: transformation_estimation_lm.h:77
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:23
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::values
int values() const
Get the number of values.
Definition: transformation_estimation_point_to_plane_weighted.h:234
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::OptimizationFunctor
OptimizationFunctor(int m_data_points, const TransformationEstimationPointToPlaneWeighted *estimator)
Functor constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:248
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::operator()
int operator()(const VectorX &x, VectorX &fvec) const
Fill fvec from x.
Definition: transformation_estimation_point_to_plane_weighted.hpp:248
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::estimator_
const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > * estimator_
Definition: transformation_estimation_point_to_plane_weighted.h:283
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor
Base functor all the models that need non linear optimization must define their own one and implement...
Definition: transformation_estimation_point_to_plane_weighted.h:209
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor
Definition: transformation_estimation_point_to_plane_weighted.h:240
pcl::registration::WarpPointRigid
Base warp point class.
Definition: warp_point_rigid.h:57
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::~OptimizationFunctor
virtual ~OptimizationFunctor()
Destructor.
Definition: transformation_estimation_point_to_plane_weighted.h:274
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::operator=
OptimizationFunctorWithIndices & operator=(const OptimizationFunctorWithIndices &src)
Copy operator.
Definition: transformation_estimation_point_to_plane_weighted.h:312
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:389
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::estimator_
const TransformationEstimationPointToPlaneWeighted< PointSource, PointTarget, MatScalar > * estimator_
Definition: transformation_estimation_point_to_plane_weighted.h:329
pcl::registration::TransformationEstimationPointToPlaneWeighted::setWarpFunction
void setWarpFunction(const typename WarpPointRigid< PointSource, PointTarget, MatScalar >::Ptr &warp_fcn)
Set the function we use to warp points.
Definition: transformation_estimation_point_to_plane_weighted.h:182
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices
OptimizationFunctorWithIndices(const OptimizationFunctorWithIndices &src)
Copy constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:302
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::Functor
Functor(int m_data_points)
Constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:227
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices
OptimizationFunctorWithIndices(int m_data_points, const TransformationEstimationPointToPlaneWeighted *estimator)
Functor constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:294
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
pcl::registration::TransformationEstimationPointToPlaneWeighted::TransformationEstimationPointToPlaneWeighted
TransformationEstimationPointToPlaneWeighted(const TransformationEstimationPointToPlaneWeighted &src)
Copy constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:83
pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const
Estimate a rigid rotation transformation between a source and a target point cloud using LM.
Definition: transformation_estimation_point_to_plane_weighted.hpp:62
pcl::registration::TransformationEstimationLM::ConstPtr
shared_ptr< const TransformationEstimationLM< PointSource, PointTarget, MatScalar > > ConstPtr
Definition: transformation_estimation_lm.h:73
pcl::registration::TransformationEstimationLM::Functor< MatScalar >::JacobianType
Eigen::Matrix< MatScalar, ValuesAtCompileTime, InputsAtCompileTime > JacobianType
Definition: transformation_estimation_lm.h:236
pcl::registration::TransformationEstimationPointToPlaneWeighted::use_correspondence_weights_
bool use_correspondence_weights_
Definition: transformation_estimation_point_to_plane_weighted.h:186
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::InputsAtCompileTime
Definition: transformation_estimation_point_to_plane_weighted.h:214
pcl::PointCloud< PointSource >::Ptr
shared_ptr< PointCloud< PointSource > > Ptr
Definition: point_cloud.h:415
pcl::registration::TransformationEstimationPointToPlaneWeighted::setUseCorrespondenceWeights
void setUseCorrespondenceWeights(bool use_correspondence_weights)
use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (....
Definition: transformation_estimation_point_to_plane_weighted.h:175
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::~Functor
virtual ~Functor()
Destructor.
Definition: transformation_estimation_point_to_plane_weighted.h:230
pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_tgt_
const PointCloudTarget * tmp_tgt_
Temporary pointer to the target dataset.
Definition: transformation_estimation_point_to_plane_weighted.h:193
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::operator=
OptimizationFunctor & operator=(const OptimizationFunctor &src)
Copy operator.
Definition: transformation_estimation_point_to_plane_weighted.h:266
pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::Functor
Functor()
Empty Constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:222
pcl::PointCloud< PointSource >::ConstPtr
shared_ptr< const PointCloud< PointSource > > ConstPtr
Definition: point_cloud.h:416
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::~OptimizationFunctorWithIndices
virtual ~OptimizationFunctorWithIndices()
Destructor.
Definition: transformation_estimation_point_to_plane_weighted.h:320
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88
pcl::registration::TransformationEstimationPointToPlaneWeighted::setWeights
void setWeights(const std::vector< double > &weights)
Definition: transformation_estimation_point_to_plane_weighted.h:170
pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::OptimizationFunctor
OptimizationFunctor(const OptimizationFunctor &src)
Copy constructor.
Definition: transformation_estimation_point_to_plane_weighted.h:256
pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_src_
const PointCloudSource * tmp_src_
Temporary pointer to the source dataset.
Definition: transformation_estimation_point_to_plane_weighted.h:190
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:108
pcl::registration::TransformationEstimationLM::VectorX
Eigen::Matrix< MatScalar, Eigen::Dynamic, 1 > VectorX
Definition: transformation_estimation_lm.h:75
pcl::registration::WarpPointRigid::Ptr
shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr
Definition: warp_point_rigid.h:64
pcl::registration::TransformationEstimation
TransformationEstimation represents the base class for methods for transformation estimation based on...
Definition: transformation_estimation.h:62