Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: distances.h 3042 2011-11-01 04:44:47Z svn $ 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_DISTANCES_H 00040 #define PCL_REGISTRATION_DISTANCES_H 00041 00042 #include <Eigen/Core> 00043 #include <vector> 00044 00045 namespace pcl 00046 { 00047 namespace distances 00048 { 00049 00054 inline double 00055 computeMedian (double *fvec, int m) 00056 { 00057 // Copy the values to vectors for faster sorting 00058 std::vector<double> data (m); 00059 memcpy (&data[0], fvec, sizeof (double) * m); 00060 00061 std::nth_element(data.begin(), data.begin() + (data.size () >> 1), data.end()); 00062 return (data[data.size () >> 1]); 00063 } 00064 00070 inline double 00071 huber (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt, double sigma) 00072 { 00073 Eigen::Array4f diff = (p_tgt.array () - p_src.array ()).abs (); 00074 double norm = 0.0; 00075 for (int i = 0; i < 3; ++i) 00076 { 00077 if (diff[i] < sigma) 00078 norm += diff[i] * diff[i]; 00079 else 00080 norm += 2.0 * sigma * diff[i] - sigma * sigma; 00081 } 00082 return (norm); 00083 } 00085 double(*huberFunctionPtr) (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt, double sigma) = &pcl::distances::huber; 00086 00091 inline double 00092 huber (double diff, double sigma) 00093 { 00094 double norm = 0.0; 00095 if (diff < sigma) 00096 norm += diff * diff; 00097 else 00098 norm += 2.0 * sigma * diff - sigma * sigma; 00099 return (norm); 00100 } 00101 00107 inline double 00108 gedikli (double val, double clipping, double slope = 4) 00109 { 00110 return (1.0 / (1.0 + pow (fabs(val) / clipping, slope))); 00111 } 00112 00117 inline double 00118 l1 (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) 00119 { 00120 return ((p_src.array () - p_tgt.array ()).abs ().sum ()); 00121 } 00123 double(*l1FunctionPtr) (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) = &pcl::distances::l1; 00124 00129 inline double 00130 l2 (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) 00131 { 00132 return ((p_src - p_tgt).norm ()); 00133 } 00135 double(*l2FunctionPtr) (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) = &pcl::distances::l2; 00136 00141 inline double 00142 l2Sqr (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) 00143 { 00144 return ((p_src - p_tgt).squaredNorm ()); 00145 } 00147 double(*l2SqrFunctionPtr) (const Eigen::Vector4f &p_src, const Eigen::Vector4f &p_tgt) = &pcl::distances::l2Sqr; 00148 }; 00149 } 00150 00151 #endif