Point Cloud Library (PCL)
1.3.1
|
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 00035 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00036 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00037 00038 #include <Eigen/Core> 00039 00040 namespace pcl 00041 { 00047 class TransformationFromCorrespondences 00048 { 00049 public: 00050 //-----CONSTRUCTOR&DESTRUCTOR----- 00052 TransformationFromCorrespondences (); 00053 00055 ~TransformationFromCorrespondences (); 00056 00057 //-----METHODS----- 00059 inline void 00060 reset (); 00061 00063 inline float 00064 getAccumulatedWeight () const { return accumulated_weight_;} 00065 00067 inline unsigned int 00068 getNoOfSamples () { return no_of_samples_;} 00069 00071 inline void 00072 add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0); 00073 00075 inline Eigen::Affine3f 00076 getTransformation (); 00077 00078 //-----VARIABLES----- 00079 00080 protected: 00081 //-----METHODS----- 00082 //-----VARIABLES----- 00083 unsigned int no_of_samples_; 00084 float accumulated_weight_; 00085 Eigen::Vector3f mean1_, mean2_; 00086 Eigen::Matrix<float, 3, 3> covariance_; 00087 }; 00088 00089 } // END namespace 00090 00091 #include "pcl/common/impl/transformation_from_correspondences.hpp" 00092 00093 #endif // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00094