transformation_estimation_lm.h

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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, typename MatScalar = float>
    class TransformationEstimationLM : public TransformationEstimation<PointSource, PointTarget, MatScalar>
    {
      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:
        typedef boost::shared_ptr<TransformationEstimationLM<PointSource, PointTarget, MatScalar> > Ptr;
        typedef boost::shared_ptr<const TransformationEstimationLM<PointSource, PointTarget, MatScalar> > ConstPtr;

        typedef Eigen::Matrix<MatScalar, Eigen::Dynamic, 1> VectorX;
        typedef Eigen::Matrix<MatScalar, 4, 1> Vector4;
        typedef typename TransformationEstimation<PointSource, PointTarget, MatScalar>::Matrix4 Matrix4;
        
        TransformationEstimationLM ();

        TransformationEstimationLM (const TransformationEstimationLM &src) : 
          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)
        {
          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,
            Matrix4 &transformation_matrix) const;

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const std::vector<int> &indices_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            Matrix4 &transformation_matrix) const;

        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,
            Matrix4 &transformation_matrix) const;

        inline void
        estimateRigidTransformation (
            const pcl::PointCloud<PointSource> &cloud_src,
            const pcl::PointCloud<PointTarget> &cloud_tgt,
            const pcl::Correspondences &correspondences,
            Matrix4 &transformation_matrix) const;

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

      protected:
        virtual MatScalar
        computeDistance (const PointSource &p_src, const PointTarget &p_tgt) const
        {
          Vector4 s (p_src.x, p_src.y, p_src.z, 0);
          Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
          return ((s - t).norm ());
        }

        virtual MatScalar
        computeDistance (const Vector4 &p_src, const PointTarget &p_tgt) const
        {
          Vector4 t (p_tgt.x, p_tgt.y, p_tgt.z, 0);
          return ((p_src - t).norm ());
        }

        mutable const PointCloudSource *tmp_src_;

        mutable const PointCloudTarget  *tmp_tgt_;

        mutable const std::vector<int> *tmp_idx_src_;

        mutable const std::vector<int> *tmp_idx_tgt_;

        boost::shared_ptr<pcl::registration::WarpPointRigid<PointSource, PointTarget, MatScalar> > 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<MatScalar>
        {
          using Functor<MatScalar>::values;

          OptimizationFunctor (int m_data_points, 
                               const TransformationEstimationLM *estimator) 
            :  Functor<MatScalar> (m_data_points), estimator_ (estimator) 
          {}

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

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

          virtual ~OptimizationFunctor () {}

          int 
          operator () (const VectorX &x, VectorX &fvec) const;

          const TransformationEstimationLM<PointSource, PointTarget, MatScalar> *estimator_;
        };

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

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

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

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

          virtual ~OptimizationFunctorWithIndices () {}

          int 
          operator () (const VectorX &x, VectorX &fvec) const;

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

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

#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_LM_H_ */