Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: transformation_from_correspondences.hpp 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 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