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40
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_H_
43
44 #include <pcl/sample_consensus/sac_model_registration.h>
45
46 //////////////////////////////////////////////////////////////////////////
47 template <typename PointT> bool
isSampleGood(const Indices & samples) const48 pcl::SampleConsensusModelRegistration<PointT>::isSampleGood (const Indices &samples) const
49 {
50 if (samples.size () != sample_size_)
51 {
52 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::isSampleGood] Wrong number of samples (is %lu, should be %lu)!\n", samples.size (), sample_size_);
53 return (false);
54 }
55 using namespace pcl::common;
56 using namespace pcl::traits;
57
58 PointT p10 = (*input_)[samples[1]] - (*input_)[samples[0]];
59 PointT p20 = (*input_)[samples[2]] - (*input_)[samples[0]];
60 PointT p21 = (*input_)[samples[2]] - (*input_)[samples[1]];
61
62 return ((p10.x * p10.x + p10.y * p10.y + p10.z * p10.z) > sample_dist_thresh_ &&
63 (p20.x * p20.x + p20.y * p20.y + p20.z * p20.z) > sample_dist_thresh_ &&
64 (p21.x * p21.x + p21.y * p21.y + p21.z * p21.z) > sample_dist_thresh_);
65 }
66
67 //////////////////////////////////////////////////////////////////////////
68 template <typename PointT> bool
computeModelCoefficients(const Indices & samples,Eigen::VectorXf & model_coefficients) const69 pcl::SampleConsensusModelRegistration<PointT>::computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const
70 {
71 if (!target_)
72 {
73 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeModelCoefficients] No target dataset given!\n");
74 return (false);
75 }
76 // Need 3 samples
77 if (samples.size () != sample_size_)
78 {
79 return (false);
80 }
81
82 Indices indices_tgt (3);
83 for (int i = 0; i < 3; ++i)
84 {
85 const auto it = correspondences_.find (samples[i]);
86 if (it == correspondences_.cend ())
87 {
88 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::computeModelCoefficients] Element with key %i is not in map (map contains %lu elements).\n",
89 samples[i], correspondences_.size ());
90 return (false);
91 }
92 indices_tgt[i] = it->second;
93 }
94
95 estimateRigidTransformationSVD (*input_, samples, *target_, indices_tgt, model_coefficients);
96 return (true);
97 }
98
99 //////////////////////////////////////////////////////////////////////////
100 template <typename PointT> void
getDistancesToModel(const Eigen::VectorXf & model_coefficients,std::vector<double> & distances) const101 pcl::SampleConsensusModelRegistration<PointT>::getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
102 {
103 if (indices_->size () != indices_tgt_->size ())
104 {
105 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::getDistancesToModel] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
106 distances.clear ();
107 return;
108 }
109 if (!target_)
110 {
111 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::getDistanceToModel] No target dataset given!\n");
112 return;
113 }
114 // Check if the model is valid given the user constraints
115 if (!isModelValid (model_coefficients))
116 {
117 distances.clear ();
118 return;
119 }
120 distances.resize (indices_->size ());
121
122 // Get the 4x4 transformation
123 Eigen::Matrix4f transform;
124 transform.row (0).matrix () = model_coefficients.segment<4>(0);
125 transform.row (1).matrix () = model_coefficients.segment<4>(4);
126 transform.row (2).matrix () = model_coefficients.segment<4>(8);
127 transform.row (3).matrix () = model_coefficients.segment<4>(12);
128
129 for (std::size_t i = 0; i < indices_->size (); ++i)
130 {
131 Eigen::Vector4f pt_src ((*input_)[(*indices_)[i]].x,
132 (*input_)[(*indices_)[i]].y,
133 (*input_)[(*indices_)[i]].z, 1.0f);
134 Eigen::Vector4f pt_tgt ((*target_)[(*indices_tgt_)[i]].x,
135 (*target_)[(*indices_tgt_)[i]].y,
136 (*target_)[(*indices_tgt_)[i]].z, 1.0f);
137
138 Eigen::Vector4f p_tr (transform * pt_src);
139 // Calculate the distance from the transformed point to its correspondence
140 // need to compute the real norm here to keep MSAC and friends general
141 distances[i] = (p_tr - pt_tgt).norm ();
142 }
143 }
144
145 //////////////////////////////////////////////////////////////////////////
146 template <typename PointT> void
selectWithinDistance(const Eigen::VectorXf & model_coefficients,const double threshold,Indices & inliers)147 pcl::SampleConsensusModelRegistration<PointT>::selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
148 {
149 if (indices_->size () != indices_tgt_->size ())
150 {
151 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::selectWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
152 inliers.clear ();
153 return;
154 }
155 if (!target_)
156 {
157 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::selectWithinDistance] No target dataset given!\n");
158 return;
159 }
160
161 double thresh = threshold * threshold;
162
163 // Check if the model is valid given the user constraints
164 if (!isModelValid (model_coefficients))
165 {
166 inliers.clear ();
167 return;
168 }
169
170 inliers.clear ();
171 error_sqr_dists_.clear ();
172 inliers.reserve (indices_->size ());
173 error_sqr_dists_.reserve (indices_->size ());
174
175 Eigen::Matrix4f transform;
176 transform.row (0).matrix () = model_coefficients.segment<4>(0);
177 transform.row (1).matrix () = model_coefficients.segment<4>(4);
178 transform.row (2).matrix () = model_coefficients.segment<4>(8);
179 transform.row (3).matrix () = model_coefficients.segment<4>(12);
180
181 for (std::size_t i = 0; i < indices_->size (); ++i)
182 {
183 Eigen::Vector4f pt_src ((*input_)[(*indices_)[i]].x,
184 (*input_)[(*indices_)[i]].y,
185 (*input_)[(*indices_)[i]].z, 1);
186 Eigen::Vector4f pt_tgt ((*target_)[(*indices_tgt_)[i]].x,
187 (*target_)[(*indices_tgt_)[i]].y,
188 (*target_)[(*indices_tgt_)[i]].z, 1);
189
190 Eigen::Vector4f p_tr (transform * pt_src);
191
192 float distance = (p_tr - pt_tgt).squaredNorm ();
193 // Calculate the distance from the transformed point to its correspondence
194 if (distance < thresh)
195 {
196 inliers.push_back ((*indices_)[i]);
197 error_sqr_dists_.push_back (static_cast<double> (distance));
198 }
199 }
200 }
201
202 //////////////////////////////////////////////////////////////////////////
203 template <typename PointT> std::size_t
countWithinDistance(const Eigen::VectorXf & model_coefficients,const double threshold) const204 pcl::SampleConsensusModelRegistration<PointT>::countWithinDistance (
205 const Eigen::VectorXf &model_coefficients, const double threshold) const
206 {
207 if (indices_->size () != indices_tgt_->size ())
208 {
209 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::countWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
210 return (0);
211 }
212 if (!target_)
213 {
214 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::countWithinDistance] No target dataset given!\n");
215 return (0);
216 }
217
218 double thresh = threshold * threshold;
219
220 // Check if the model is valid given the user constraints
221 if (!isModelValid (model_coefficients))
222 {
223 return (0);
224 }
225
226 Eigen::Matrix4f transform;
227 transform.row (0).matrix () = model_coefficients.segment<4>(0);
228 transform.row (1).matrix () = model_coefficients.segment<4>(4);
229 transform.row (2).matrix () = model_coefficients.segment<4>(8);
230 transform.row (3).matrix () = model_coefficients.segment<4>(12);
231
232 std::size_t nr_p = 0;
233 for (std::size_t i = 0; i < indices_->size (); ++i)
234 {
235 Eigen::Vector4f pt_src ((*input_)[(*indices_)[i]].x,
236 (*input_)[(*indices_)[i]].y,
237 (*input_)[(*indices_)[i]].z, 1);
238 Eigen::Vector4f pt_tgt ((*target_)[(*indices_tgt_)[i]].x,
239 (*target_)[(*indices_tgt_)[i]].y,
240 (*target_)[(*indices_tgt_)[i]].z, 1);
241
242 Eigen::Vector4f p_tr (transform * pt_src);
243 // Calculate the distance from the transformed point to its correspondence
244 if ((p_tr - pt_tgt).squaredNorm () < thresh)
245 nr_p++;
246 }
247 return (nr_p);
248 }
249
250 //////////////////////////////////////////////////////////////////////////
251 template <typename PointT> void
optimizeModelCoefficients(const Indices & inliers,const Eigen::VectorXf & model_coefficients,Eigen::VectorXf & optimized_coefficients) const252 pcl::SampleConsensusModelRegistration<PointT>::optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
253 {
254 if (indices_->size () != indices_tgt_->size ())
255 {
256 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::optimizeModelCoefficients] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
257 optimized_coefficients = model_coefficients;
258 return;
259 }
260
261 // Check if the model is valid given the user constraints
262 if (!isModelValid (model_coefficients) || !target_)
263 {
264 optimized_coefficients = model_coefficients;
265 return;
266 }
267
268 Indices indices_src (inliers.size ());
269 Indices indices_tgt (inliers.size ());
270 for (std::size_t i = 0; i < inliers.size (); ++i)
271 {
272 indices_src[i] = inliers[i];
273 const auto it = correspondences_.find (indices_src[i]);
274 if (it == correspondences_.cend ())
275 {
276 PCL_ERROR ("[pcl::SampleConsensusModelRegistration::optimizeModelCoefficients] Element with key %i is not in map (map contains %lu elements).\n",
277 indices_src[i], correspondences_.size ());
278 optimized_coefficients = model_coefficients;
279 return;
280 }
281 indices_tgt[i] = it->second;
282 }
283
284 estimateRigidTransformationSVD (*input_, indices_src, *target_, indices_tgt, optimized_coefficients);
285 }
286
287 //////////////////////////////////////////////////////////////////////////
288 template <typename PointT> void
estimateRigidTransformationSVD(const pcl::PointCloud<PointT> & cloud_src,const Indices & indices_src,const pcl::PointCloud<PointT> & cloud_tgt,const Indices & indices_tgt,Eigen::VectorXf & transform) const289 pcl::SampleConsensusModelRegistration<PointT>::estimateRigidTransformationSVD (
290 const pcl::PointCloud<PointT> &cloud_src,
291 const Indices &indices_src,
292 const pcl::PointCloud<PointT> &cloud_tgt,
293 const Indices &indices_tgt,
294 Eigen::VectorXf &transform) const
295 {
296 transform.resize (16);
297
298 Eigen::Matrix<double, 3, Eigen::Dynamic> src (3, indices_src.size ());
299 Eigen::Matrix<double, 3, Eigen::Dynamic> tgt (3, indices_tgt.size ());
300
301 for (std::size_t i = 0; i < indices_src.size (); ++i)
302 {
303 src (0, i) = cloud_src[indices_src[i]].x;
304 src (1, i) = cloud_src[indices_src[i]].y;
305 src (2, i) = cloud_src[indices_src[i]].z;
306
307 tgt (0, i) = cloud_tgt[indices_tgt[i]].x;
308 tgt (1, i) = cloud_tgt[indices_tgt[i]].y;
309 tgt (2, i) = cloud_tgt[indices_tgt[i]].z;
310 }
311
312 // Call Umeyama directly from Eigen
313 Eigen::Matrix4d transformation_matrix = pcl::umeyama (src, tgt, false);
314
315 // Return the correct transformation
316 transform.segment<4> (0).matrix () = transformation_matrix.cast<float> ().row (0);
317 transform.segment<4> (4).matrix () = transformation_matrix.cast<float> ().row (1);
318 transform.segment<4> (8).matrix () = transformation_matrix.cast<float> ().row (2);
319 transform.segment<4> (12).matrix () = transformation_matrix.cast<float> ().row (3);
320 }
321
322 #define PCL_INSTANTIATE_SampleConsensusModelRegistration(T) template class PCL_EXPORTS pcl::SampleConsensusModelRegistration<T>;
323
324 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_REGISTRATION_H_
325
326