Point Cloud Library (PCL)  1.12.0-dev
transformation_estimation_symmetric_point_to_plane_lls.h
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37 
38 #pragma once
39 
40 #include <pcl/registration/transformation_estimation.h>
41 #include <pcl/cloud_iterator.h>
42 
43 namespace pcl {
44 namespace registration {
45 /** \brief @b TransformationEstimationSymmetricPointToPlaneLLS implements a Linear Least
46  * Squares (LLS) approximation for minimizing the symmetric point-to-plane distance
47  * between two clouds of corresponding points with normals.
48  *
49  * For additional details, see
50  * "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration",
51  * Kok-Lim Low, 2004 "A Symmetric Objective Function for ICP", Szymon Rusinkiewicz, 2019
52  *
53  * \note The class is templated on the source and target point types as well as on the
54  * output scalar of the transformation matrix (i.e., float or double). Default: float.
55  * \author Matthew Cong
56  * \ingroup registration
57  */
58 template <typename PointSource, typename PointTarget, typename Scalar = float>
60 : public TransformationEstimation<PointSource, PointTarget, Scalar> {
61 public:
62  using Ptr = shared_ptr<TransformationEstimationSymmetricPointToPlaneLLS<PointSource,
63  PointTarget,
64  Scalar>>;
65  using ConstPtr =
66  shared_ptr<const TransformationEstimationSymmetricPointToPlaneLLS<PointSource,
67  PointTarget,
68  Scalar>>;
69 
70  using Matrix4 =
72  using Vector6 = Eigen::Matrix<Scalar, 6, 1>;
73 
77 
78  /** \brief Estimate a rigid rotation transformation between a source and a target
79  * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
80  * \param[in] cloud_tgt the target point cloud dataset
81  * \param[out] transformation_matrix the resultant transformation matrix
82  */
83  inline void
85  const pcl::PointCloud<PointTarget>& cloud_tgt,
86  Matrix4& transformation_matrix) const override;
87 
88  /** \brief Estimate a rigid rotation transformation between a source and a target
89  * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
90  * \param[in] indices_src the vector of indices describing the points of interest in
91  * \a cloud_src
92  * \param[in] cloud_tgt the target point cloud dataset
93  * \param[out] transformation_matrix the resultant transformation matrix
94  */
95  inline void
97  const pcl::Indices& indices_src,
98  const pcl::PointCloud<PointTarget>& cloud_tgt,
99  Matrix4& transformation_matrix) const override;
100 
101  /** \brief Estimate a rigid rotation transformation between a source and a target
102  * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
103  * \param[in] indices_src the vector of indices describing the points of interest in
104  * \a cloud_src
105  * \param[in] cloud_tgt the target point cloud dataset
106  * \param[in] indices_tgt the vector of indices describing the correspondences of the
107  * interest points from \a indices_src
108  * \param[out] transformation_matrix the resultant transformation matrix
109  */
110  inline void
112  const pcl::Indices& indices_src,
113  const pcl::PointCloud<PointTarget>& cloud_tgt,
114  const pcl::Indices& indices_tgt,
115  Matrix4& transformation_matrix) const override;
116 
117  /** \brief Estimate a rigid rotation transformation between a source and a target
118  * point cloud using SVD. \param[in] cloud_src the source point cloud dataset
119  * \param[in] cloud_tgt the target point cloud dataset
120  * \param[in] correspondences the vector of correspondences between source and target
121  * point cloud \param[out] transformation_matrix the resultant transformation matrix
122  */
123  inline void
125  const pcl::PointCloud<PointTarget>& cloud_tgt,
126  const pcl::Correspondences& correspondences,
127  Matrix4& transformation_matrix) const override;
128 
129  /** \brief Set whether or not to negate source or target normals on a per-point basis
130  * such that they point in the same direction. \param[in]
131  * enforce_same_direction_normals whether to negate source or target normals on a
132  * per-point basis such that they point in the same direction.
133  */
134  inline void
135  setEnforceSameDirectionNormals(bool enforce_same_direction_normals);
136 
137  /** \brief Obtain whether source or target normals are negated on a per-point basis
138  * such that they point in the same direction or not */
139  inline bool
141 
142 protected:
143  /** \brief Estimate a rigid rotation transformation between a source and a target
144  * \param[in] source_it an iterator over the source point cloud dataset
145  * \param[in] target_it an iterator over the target point cloud dataset
146  * \param[out] transformation_matrix the resultant transformation matrix
147  */
148  void
151  Matrix4& transformation_matrix) const;
152 
153  /** \brief Construct a 4 by 4 transformation matrix from the provided rotation and
154  * translation. \param[in] parameters (alpha, beta, gamma, tx, ty, tz) specifying
155  * rotation about the x, y, and z-axis and translation along the the x, y, and z-axis
156  * respectively \param[out] transformation_matrix the resultant transformation matrix
157  */
158  inline void
159  constructTransformationMatrix(const Vector6& parameters,
160  Matrix4& transformation_matrix) const;
161 
162  /** \brief Whether or not to negate source and/or target normals such that they point
163  * in the same direction */
165 };
166 } // namespace registration
167 } // namespace pcl
168 
169 #include <pcl/registration/impl/transformation_estimation_symmetric_point_to_plane_lls.hpp>
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::Ptr
shared_ptr< TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar > > Ptr
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:64
pcl
Definition: convolution.h:46
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::Matrix4
typename TransformationEstimation< PointSource, PointTarget, Scalar >::Matrix4 Matrix4
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:71
pcl::registration::TransformationEstimation::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition: transformation_estimation.h:64
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::enforce_same_direction_normals_
bool enforce_same_direction_normals_
Whether or not to negate source and/or target normals such that they point in the same direction.
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:164
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::estimateRigidTransformation
void estimateRigidTransformation(const pcl::PointCloud< PointSource > &cloud_src, const pcl::PointCloud< PointTarget > &cloud_tgt, Matrix4 &transformation_matrix) const override
Estimate a rigid rotation transformation between a source and a target point cloud using SVD.
Definition: transformation_estimation_symmetric_point_to_plane_lls.hpp:49
pcl::PointCloud< PointSource >
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::setEnforceSameDirectionNormals
void setEnforceSameDirectionNormals(bool enforce_same_direction_normals)
Set whether or not to negate source or target normals on a per-point basis such that they point in th...
Definition: transformation_estimation_symmetric_point_to_plane_lls.hpp:206
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::constructTransformationMatrix
void constructTransformationMatrix(const Vector6 &parameters, Matrix4 &transformation_matrix) const
Construct a 4 by 4 transformation matrix from the provided rotation and translation.
Definition: transformation_estimation_symmetric_point_to_plane_lls.hpp:131
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::ConstPtr
shared_ptr< const TransformationEstimationSymmetricPointToPlaneLLS< PointSource, PointTarget, Scalar > > ConstPtr
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:68
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::Vector6
Eigen::Matrix< Scalar, 6, 1 > Vector6
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:72
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS
TransformationEstimationSymmetricPointToPlaneLLS implements a Linear Least Squares (LLS) approximatio...
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:59
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::getEnforceSameDirectionNormals
bool getEnforceSameDirectionNormals()
Obtain whether source or target normals are negated on a per-point basis such that they point in the ...
Definition: transformation_estimation_symmetric_point_to_plane_lls.hpp:214
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::~TransformationEstimationSymmetricPointToPlaneLLS
~TransformationEstimationSymmetricPointToPlaneLLS()
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:76
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:120
pcl::registration::TransformationEstimationSymmetricPointToPlaneLLS::TransformationEstimationSymmetricPointToPlaneLLS
TransformationEstimationSymmetricPointToPlaneLLS()
Definition: transformation_estimation_symmetric_point_to_plane_lls.h:74
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::registration::TransformationEstimation
TransformationEstimation represents the base class for methods for transformation estimation based on...
Definition: transformation_estimation.h:62