223 int n =
static_cast<int>(getNumVertices());
225 PCL_ERROR(
"[pcl::registration::LUM::compute] The slam graph needs at least 2 "
229 for (
int i = 0; i < max_iterations_; ++i) {
232 typename SLAMGraph::edge_iterator e, e_end;
233 for (std::tie(e, e_end) = edges(*slam_graph_); e != e_end; ++e)
237 Eigen::MatrixXf G = Eigen::MatrixXf::Zero(6 * (n - 1), 6 * (n - 1));
238 Eigen::VectorXf
B = Eigen::VectorXf::Zero(6 * (n - 1));
241 for (
int vi = 1; vi != n; ++vi) {
242 for (
int vj = 0; vj != n; ++vj) {
247 std::tie(e, present1) = edge(vi, vj, *slam_graph_);
250 std::tie(e, present2) = edge(vj, vi, *slam_graph_);
257 G.block<6, 6>(6 * (vi - 1), 6 * (vj - 1)) = -(*slam_graph_)[e].cinv_;
258 G.block<6, 6>(6 * (vi - 1), 6 * (vi - 1)) += (*slam_graph_)[e].cinv_;
259 B.segment(6 * (vi - 1), 6) += (present1 ? 1 : -1) * (*slam_graph_)[e].cinvd_;
266 Eigen::VectorXf X = G.colPivHouseholderQr().solve(
B);
270 for (
int vi = 1; vi != n; ++vi) {
272 -incidenceCorrection(getPose(vi)).inverse() * X.segment(6 * (vi - 1), 6));
273 sum += difference_pose.norm();
274 setPose(vi, getPose(vi) + difference_pose);
278 if (sum <= convergence_threshold_ *
static_cast<float>(n - 1))
311 PointCloudPtr source_cloud = (*slam_graph_)[source(e, *slam_graph_)].cloud_;
312 PointCloudPtr target_cloud = (*slam_graph_)[target(e, *slam_graph_)].cloud_;
313 Eigen::Vector6f source_pose = (*slam_graph_)[source(e, *slam_graph_)].pose_;
314 Eigen::Vector6f target_pose = (*slam_graph_)[target(e, *slam_graph_)].pose_;
318 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> corrs_aver(
320 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> corrs_diff(
323 for (
const auto& icorr : (*corrs))
326 Eigen::Vector3f source_compounded =
333 (*source_cloud)[icorr.index_query].getVector3fMap();
334 Eigen::Vector3f target_compounded =
341 (*target_cloud)[icorr.index_match].getVector3fMap();
344 if (!std::isfinite(source_compounded(0)) || !std::isfinite(source_compounded(1)) ||
345 !std::isfinite(source_compounded(2)) || !std::isfinite(target_compounded(0)) ||
346 !std::isfinite(target_compounded(1)) || !std::isfinite(target_compounded(2)))
350 corrs_aver[oci] = 0.5 * (source_compounded + target_compounded);
351 corrs_diff[oci] = source_compounded - target_compounded;
354 corrs_aver.resize(oci);
355 corrs_diff.resize(oci);
359 PCL_WARN(
"[pcl::registration::LUM::compute] The correspondences between vertex %d "
360 "and %d do not contain enough valid correspondences to be considered for "
362 source(e, *slam_graph_),
363 target(e, *slam_graph_));
364 (*slam_graph_)[e].cinv_ = Eigen::Matrix6f::Zero();
365 (*slam_graph_)[e].cinvd_ = Eigen::Vector6f::Zero();
372 for (
int ci = 0; ci != oci; ++ci)
375 MM(0, 4) -= corrs_aver[ci](1);
376 MM(0, 5) += corrs_aver[ci](2);
377 MM(1, 3) -= corrs_aver[ci](2);
378 MM(1, 4) += corrs_aver[ci](0);
379 MM(2, 3) += corrs_aver[ci](1);
380 MM(2, 5) -= corrs_aver[ci](0);
381 MM(3, 4) -= corrs_aver[ci](0) * corrs_aver[ci](2);
382 MM(3, 5) -= corrs_aver[ci](0) * corrs_aver[ci](1);
383 MM(4, 5) -= corrs_aver[ci](1) * corrs_aver[ci](2);
385 corrs_aver[ci](1) * corrs_aver[ci](1) + corrs_aver[ci](2) * corrs_aver[ci](2);
387 corrs_aver[ci](0) * corrs_aver[ci](0) + corrs_aver[ci](1) * corrs_aver[ci](1);
389 corrs_aver[ci](0) * corrs_aver[ci](0) + corrs_aver[ci](2) * corrs_aver[ci](2);
392 MZ(0) += corrs_diff[ci](0);
393 MZ(1) += corrs_diff[ci](1);
394 MZ(2) += corrs_diff[ci](2);
396 corrs_aver[ci](1) * corrs_diff[ci](2) - corrs_aver[ci](2) * corrs_diff[ci](1);
398 corrs_aver[ci](0) * corrs_diff[ci](1) - corrs_aver[ci](1) * corrs_diff[ci](0);
400 corrs_aver[ci](2) * corrs_diff[ci](0) - corrs_aver[ci](0) * corrs_diff[ci](2);
403 MM(0, 0) = MM(1, 1) = MM(2, 2) =
static_cast<float>(oci);
419 for (
int ci = 0; ci != oci; ++ci)
420 ss +=
static_cast<float>(
421 std::pow(corrs_diff[ci](0) -
422 (D(0) + corrs_aver[ci](2) * D(5) - corrs_aver[ci](1) * D(4)),
424 std::pow(corrs_diff[ci](1) -
425 (D(1) + corrs_aver[ci](0) * D(4) - corrs_aver[ci](2) * D(3)),
427 std::pow(corrs_diff[ci](2) -
428 (D(2) + corrs_aver[ci](1) * D(3) - corrs_aver[ci](0) * D(5)),
432 if (ss < 0.0000000000001 || !std::isfinite(ss)) {
433 (*slam_graph_)[e].cinv_ = Eigen::Matrix6f::Zero();
434 (*slam_graph_)[e].cinvd_ = Eigen::Vector6f::Zero();
439 (*slam_graph_)[e].cinv_ = MM * (1.0f / ss);
440 (*slam_graph_)[e].cinvd_ = MZ * (1.0f / ss);
448 float cx = std::cos(pose(3)), sx = sinf(pose(3)), cy = std::cos(pose(4)),
450 out(0, 4) = pose(1) * sx - pose(2) * cx;
451 out(0, 5) = pose(1) * cx * cy + pose(2) * sx * cy;
453 out(1, 4) = -pose(0) * sx;
454 out(1, 5) = -pose(0) * cx * cy + pose(2) * sy;
455 out(2, 3) = -pose(1);
456 out(2, 4) = pose(0) * cx;
457 out(2, 5) = -pose(0) * sx * cy - pose(1) * sy;
462 out(5, 5) = -sx * cy;
void getTransformation(Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw, Eigen::Transform< Scalar, 3, Eigen::Affine > &t)
Create a transformation from the given translation and Euler angles (intrinsic rotations,...