transformation_from_correspondences.hpp
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00001 /*
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00037 
00038 #include <pcl/common/eigen.h>
00039 
00041 inline void
00042 pcl::TransformationFromCorrespondences::reset ()
00043 {
00044   no_of_samples_ = 0;
00045   accumulated_weight_ = 0.0;
00046   mean1_.fill(0);
00047   mean2_.fill(0);
00048   covariance_.fill(0);
00049 }
00050 
00052 inline void
00053 pcl::TransformationFromCorrespondences::add (const Eigen::Vector3f& point, const Eigen::Vector3f& corresponding_point,
00054                                              float weight)
00055 {
00056   if (weight==0.0f)
00057     return;
00058   
00059   ++no_of_samples_;
00060   accumulated_weight_ += weight;
00061   float alpha = weight/accumulated_weight_;
00062   
00063   Eigen::Vector3f diff1 = point - mean1_, diff2 = corresponding_point - mean2_;
00064   covariance_ = (1.0f-alpha)*(covariance_ + alpha * (diff2 * diff1.transpose()));
00065   
00066   mean1_ += alpha*(diff1);
00067   mean2_ += alpha*(diff2);
00068 }
00069 
00071 inline Eigen::Affine3f
00072 pcl::TransformationFromCorrespondences::getTransformation ()
00073 {
00074   //Eigen::JacobiSVD<Eigen::Matrix<float, 3, 3> > svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);
00075   Eigen::JacobiSVD<Eigen::Matrix<float, 3, 3> > svd (covariance_, Eigen::ComputeFullU | Eigen::ComputeFullV);
00076   const Eigen::Matrix<float, 3, 3>& u = svd.matrixU(),
00077                                    & v = svd.matrixV();
00078   Eigen::Matrix<float, 3, 3> s;
00079   s.setIdentity();
00080   if (u.determinant()*v.determinant() < 0.0f)
00081     s(2,2) = -1.0f;
00082   
00083   Eigen::Matrix<float, 3, 3> r = u * s * v.transpose();
00084   Eigen::Vector3f t = mean2_ - r*mean1_;
00085   
00086   Eigen::Affine3f ret;
00087   ret(0,0)=r(0,0); ret(0,1)=r(0,1); ret(0,2)=r(0,2); ret(0,3)=t(0);
00088   ret(1,0)=r(1,0); ret(1,1)=r(1,1); ret(1,2)=r(1,2); ret(1,3)=t(1);
00089   ret(2,0)=r(2,0); ret(2,1)=r(2,1); ret(2,2)=r(2,2); ret(2,3)=t(2);
00090   ret(3,0)=0.0f;   ret(3,1)=0.0f;   ret(3,2)=0.0f;   ret(3,3)=1.0f;
00091   
00092   return (ret);
00093 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:37:00