transformation_estimation_lm.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: transformation_estimation_lm.h 4702 2012-02-23 09:39:33Z gedikli $
 *
 */
#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_
#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_

#include <pcl/registration/transformation_estimation.h>
#include <pcl/registration/warp_point_rigid.h>
#include <pcl/registration/distances.h>

namespace pcl
{
  namespace registration
  {
    template <typename PointSource, typename PointTarget>
    class TransformationEstimationLM : public TransformationEstimation<PointSource, PointTarget>
    {
      typedef pcl::PointCloud<PointSource> PointCloudSource;
      typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
      typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

      typedef pcl::PointCloud<PointTarget> PointCloudTarget;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;

      public:
        TransformationEstimationLM () {};
        virtual ~TransformationEstimationLM () {};

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix);

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Eigen::Matrix4f &transformation_matrix);

        inline void
        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);

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Eigen::Matrix4f &transformation_matrix);

        void
        setWarpFunction (const boost::shared_ptr<WarpPointRigid<PointSource, PointTarget> > &warp_fcn)
        {
          warp_point_ = warp_fcn;
        }

      protected:
        virtual double 
        computeDistance (const PointSource &p_src, const PointTarget &p_tgt)
        {
          Vector4fMapConst s = p_src.getVector4fMap ();
          Vector4fMapConst t = p_tgt.getVector4fMap ();
          return (pcl::distances::l2 (s, t));
        }

        std::vector<double> weights_;

        const PointCloudSource *tmp_src_;

        const PointCloudTarget  *tmp_tgt_;

        const std::vector<int> *tmp_idx_src_;

        const std::vector<int> *tmp_idx_tgt_;

        boost::shared_ptr<WarpPointRigid<PointSource, PointTarget> > warp_point_;
        
        template<typename _Scalar, int NX=Eigen::Dynamic, int NY=Eigen::Dynamic>
        struct Functor
        {
          typedef _Scalar Scalar;
          enum {
            InputsAtCompileTime = NX,
            ValuesAtCompileTime = NY
          };
          typedef Eigen::Matrix<Scalar,InputsAtCompileTime,1> InputType;
          typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
          typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;

          Functor () : m_data_points_ (ValuesAtCompileTime) {}

          Functor (int m_data_points) : m_data_points_ (m_data_points) {}
        
          int
          values () const { return (m_data_points_); }

          private:
            const int m_data_points_;
        };

        struct OptimizationFunctor : public Functor<double>
        {
          using Functor<double>::values;

          OptimizationFunctor (int m_data_points, TransformationEstimationLM<PointSource, PointTarget> *estimator) : 
            Functor<double> (m_data_points), estimator_ (estimator) {}

          int 
          operator () (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const;

          TransformationEstimationLM<PointSource, PointTarget> *estimator_;
        };

        struct OptimizationFunctorWithIndices : public Functor<double>
        {
          using Functor<double>::values;

          OptimizationFunctorWithIndices (int m_data_points, TransformationEstimationLM *estimator) :
            Functor<double> (m_data_points), estimator_ (estimator) {}

          int 
          operator () (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const;

          TransformationEstimationLM<PointSource, PointTarget> *estimator_;
        };
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/registration/impl/transformation_estimation_lm.hpp>

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ */