Point Cloud Library (PCL)
1.3.1
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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: transformation_estimation_svd.h 3041 2011-11-01 04:44:41Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ 00040 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ 00041 00042 #include <pcl/registration/transformation_estimation.h> 00043 00044 namespace pcl 00045 { 00046 namespace registration 00047 { 00054 template <typename PointSource, typename PointTarget> 00055 class TransformationEstimationSVD : public TransformationEstimation<PointSource, PointTarget> 00056 { 00057 public: 00058 TransformationEstimationSVD () {}; 00059 virtual ~TransformationEstimationSVD () {}; 00060 00066 inline void 00067 estimateRigidTransformation ( 00068 const pcl::PointCloud<PointSource> &cloud_src, 00069 const pcl::PointCloud<PointTarget> &cloud_tgt, 00070 Eigen::Matrix4f &transformation_matrix); 00071 00078 inline void 00079 estimateRigidTransformation ( 00080 const pcl::PointCloud<PointSource> &cloud_src, 00081 const std::vector<int> &indices_src, 00082 const pcl::PointCloud<PointTarget> &cloud_tgt, 00083 Eigen::Matrix4f &transformation_matrix); 00084 00092 inline void 00093 estimateRigidTransformation ( 00094 const pcl::PointCloud<PointSource> &cloud_src, 00095 const std::vector<int> &indices_src, 00096 const pcl::PointCloud<PointTarget> &cloud_tgt, 00097 const std::vector<int> &indices_tgt, 00098 Eigen::Matrix4f &transformation_matrix); 00099 00106 inline void 00107 estimateRigidTransformation ( 00108 const pcl::PointCloud<PointSource> &cloud_src, 00109 const pcl::PointCloud<PointTarget> &cloud_tgt, 00110 const Correspondences &correspondences, 00111 Eigen::Matrix4f &transformation_matrix); 00112 00113 protected: 00114 00122 void 00123 getTransformationFromCorrelation (const Eigen::MatrixXf &cloud_src_demean, 00124 const Eigen::Vector4f ¢roid_src, 00125 const Eigen::MatrixXf &cloud_tgt_demean, 00126 const Eigen::Vector4f ¢roid_tgt, 00127 Eigen::Matrix4f &transformation_matrix); 00128 }; 00129 00130 } 00131 } 00132 00133 #include <pcl/registration/impl/transformation_estimation_svd.hpp> 00134 00135 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_H_ */