Point Cloud Library (PCL)
1.7.0
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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 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ 00041 #define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ 00042 00043 #include <pcl/registration/transformation_estimation_svd.h> 00044 00045 namespace pcl 00046 { 00047 namespace registration 00048 { 00049 /** @b TransformationEstimationSVD implements SVD-based estimation of 00050 * the transformation aligning the given correspondences. 00051 * Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm. 00052 * 00053 * \note The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. 00054 * \author Suat Gedikli 00055 * \ingroup registration 00056 */ 00057 template <typename PointSource, typename PointTarget, typename Scalar = float> 00058 class TransformationEstimationSVDScale : public TransformationEstimationSVD<PointSource, PointTarget, Scalar> 00059 { 00060 public: 00061 typedef boost::shared_ptr<TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > Ptr; 00062 typedef boost::shared_ptr<const TransformationEstimationSVDScale<PointSource, PointTarget, Scalar> > ConstPtr; 00063 00064 typedef typename TransformationEstimationSVD<PointSource, PointTarget, Scalar>::Matrix4 Matrix4; 00065 00066 /** \brief Inherits from TransformationEstimationSVD, but forces it to not use the Umeyama method */ 00067 TransformationEstimationSVDScale (): 00068 TransformationEstimationSVD<PointSource, PointTarget, Scalar> (false) 00069 {} 00070 00071 protected: 00072 /** \brief Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt' 00073 * \param[in] cloud_src_demean the input source cloud, demeaned, in Eigen format 00074 * \param[in] centroid_src the input source centroid, in Eigen format 00075 * \param[in] cloud_tgt_demean the input target cloud, demeaned, in Eigen format 00076 * \param[in] centroid_tgt the input target cloud, in Eigen format 00077 * \param[out] transformation_matrix the resultant 4x4 rigid transformation matrix 00078 */ 00079 void 00080 getTransformationFromCorrelation (const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_src_demean, 00081 const Eigen::Matrix<Scalar, 4, 1> ¢roid_src, 00082 const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &cloud_tgt_demean, 00083 const Eigen::Matrix<Scalar, 4, 1> ¢roid_tgt, 00084 Matrix4 &transformation_matrix) const; 00085 }; 00086 00087 } 00088 } 00089 00090 #include <pcl/registration/impl/transformation_estimation_svd_scale.hpp> 00091 00092 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_H_ */