00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, 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 00037 #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00038 #define PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00039 00040 #include <pcl/common/eigen.h> 00041 00042 namespace pcl 00043 { 00049 class TransformationFromCorrespondences 00050 { 00051 public: 00052 //-----CONSTRUCTOR&DESTRUCTOR----- 00054 TransformationFromCorrespondences () : 00055 no_of_samples_ (0), accumulated_weight_ (0), 00056 mean1_ (Eigen::Vector3f::Identity ()), 00057 mean2_ (Eigen::Vector3f::Identity ()), 00058 covariance_ (Eigen::Matrix<float, 3, 3>::Identity ()) 00059 { reset (); } 00060 00062 ~TransformationFromCorrespondences () { }; 00063 00064 //-----METHODS----- 00066 inline void 00067 reset (); 00068 00070 inline float 00071 getAccumulatedWeight () const { return accumulated_weight_;} 00072 00074 inline unsigned int 00075 getNoOfSamples () { return no_of_samples_;} 00076 00078 inline void 00079 add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point, float weight=1.0); 00080 00082 inline Eigen::Affine3f 00083 getTransformation (); 00084 00085 //-----VARIABLES----- 00086 00087 protected: 00088 //-----METHODS----- 00089 //-----VARIABLES----- 00090 unsigned int no_of_samples_; 00091 float accumulated_weight_; 00092 Eigen::Vector3f mean1_, mean2_; 00093 Eigen::Matrix<float, 3, 3> covariance_; 00094 }; 00095 00096 } // END namespace 00097 00098 #include <pcl/common/impl/transformation_from_correspondences.hpp> 00099 00100 #endif // #ifndef PCL_TRANSFORMATION_FROM_CORRESPONDENCES_H 00101