Point Cloud Library (PCL)  1.3.1
transformation_from_correspondences.hpp
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00034  * $Id: transformation_from_correspondences.hpp 1370 2011-06-19 01:06:01Z jspricke $
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00037 #include <Eigen/SVD> 
00038 #include <Eigen/LU> 
00039 #include <Eigen/Dense>
00040 
00041 namespace pcl {
00042 
00043 TransformationFromCorrespondences::TransformationFromCorrespondences ()
00044 {
00045   reset();
00046 }
00047 
00048 TransformationFromCorrespondences::~TransformationFromCorrespondences ()
00049 {
00050 }
00051 
00052 inline void
00053 TransformationFromCorrespondences::reset ()
00054 {
00055   no_of_samples_ = 0;
00056   accumulated_weight_ = 0.0;
00057   mean1_.fill(0);
00058   mean2_.fill(0);
00059   covariance_.fill(0);
00060 }
00061 
00062 inline void
00063 TransformationFromCorrespondences::add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point,
00064                                         float weight)
00065 {
00066   if (weight==0.0f)
00067     return;
00068   
00069   ++no_of_samples_;
00070   accumulated_weight_ += weight;
00071   float alpha = weight/accumulated_weight_;
00072   
00073   Eigen::Vector3f diff1 = point - mean1_, diff2 = corresponding_point - mean2_;
00074   covariance_ = (1.0-alpha)*(covariance_ + alpha * (diff2 * diff1.transpose()));
00075   
00076   mean1_ += alpha*(diff1);
00077   mean2_ += alpha*(diff2);
00078 }
00079 
00080 inline Eigen::Affine3f
00081 TransformationFromCorrespondences::getTransformation ()
00082 {
00083   //Eigen::JacobiSVD<Eigen::Matrix<float, 3, 3> > svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);
00084   Eigen::JacobiSVD<Eigen::Matrix<float, 3, 3> > svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);
00085   const Eigen::Matrix<float, 3, 3>& u = svd.matrixU(),
00086                                    & v = svd.matrixV();
00087   Eigen::Matrix<float, 3, 3> s;
00088   s.setIdentity();
00089   if (u.determinant()*v.determinant() < 0.0f)
00090     s(2,2) = -1.0f;
00091   
00092   Eigen::Matrix<float, 3, 3> r = u * s * v.transpose();
00093   Eigen::Vector3f t = mean2_ - r*mean1_;
00094   
00095   Eigen::Affine3f ret;
00096   ret(0,0)=r(0,0); ret(0,1)=r(0,1); ret(0,2)=r(0,2); ret(0,3)=t(0);
00097   ret(1,0)=r(1,0); ret(1,1)=r(1,1); ret(1,2)=r(1,2); ret(1,3)=t(1);
00098   ret(2,0)=r(2,0); ret(2,1)=r(2,1); ret(2,2)=r(2,2); ret(2,3)=t(2);
00099   ret(3,0)=0.0f;   ret(3,1)=0.0f;   ret(3,2)=0.0f;   ret(3,3)=1.0f;
00100   
00101   return ret;
00102 }
00103 
00104 }  // END namespace
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