transformation_estimation_lm.h

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 * $Id: transformation_estimation_lm.h 5155 2012-03-17 21:45:48Z rusu $
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#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 () : 
          weights_ (), tmp_src_ (), tmp_tgt_ (), tmp_idx_src_ (), tmp_idx_tgt_ (), warp_point_ ()
        {};

        TransformationEstimationLM (const TransformationEstimationLM &src) : 
          weights_ (src.weights_), 
          tmp_src_ (src.tmp_src_), 
          tmp_tgt_ (src.tmp_tgt_), 
          tmp_idx_src_ (src.tmp_idx_src_), 
          tmp_idx_tgt_ (src.tmp_idx_tgt_), 
          warp_point_ (src.warp_point_)
        {};

        TransformationEstimationLM&
        operator = (const TransformationEstimationLM &src)
        {
          weights_ = src.weights_;
          tmp_src_ = src.tmp_src_; 
          tmp_tgt_ = src.tmp_tgt_; 
          tmp_idx_src_ = src.tmp_idx_src_;
          tmp_idx_tgt_ = src.tmp_idx_tgt_; 
          warp_point_ = src.warp_point_;
        }

        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) {}
        
          virtual ~Functor () {}

          int
          values () const { return (m_data_points_); }

          protected:
            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) {}

          inline OptimizationFunctor (const OptimizationFunctor &src) : 
            Functor<double> (src.m_data_points_), estimator_ ()
          {
            *this = src;
          }

          inline OptimizationFunctor& 
          operator = (const OptimizationFunctor &src) 
          { 
            Functor<double>::operator=(src);
            estimator_ = src.estimator_; 
            return (*this); 
          }

          virtual ~OptimizationFunctor () {}

          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) {}

          inline OptimizationFunctorWithIndices (const OptimizationFunctorWithIndices &src) : 
            Functor<double> (src.m_data_points_), estimator_ ()
          {
            *this = src;
          }

          inline OptimizationFunctorWithIndices& 
          operator = (const OptimizationFunctorWithIndices &src) 
          { 
            Functor<double>::operator=(src);
            estimator_ = src.estimator_; 
            return (*this); 
          }

          virtual ~OptimizationFunctorWithIndices () {}

          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_ */