00001 // kate: replace-tabs off; indent-width 4; indent-mode normal 00002 // vim: ts=4:sw=4:noexpandtab 00003 /* 00004 00005 Copyright (c) 2010--2012, 00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland 00007 You can contact the authors at <f dot pomerleau at gmail dot com> and 00008 <stephane at magnenat dot net> 00009 00010 All rights reserved. 00011 00012 Redistribution and use in source and binary forms, with or without 00013 modification, are permitted provided that the following conditions are met: 00014 * Redistributions of source code must retain the above copyright 00015 notice, this list of conditions and the following disclaimer. 00016 * Redistributions in binary form must reproduce the above copyright 00017 notice, this list of conditions and the following disclaimer in the 00018 documentation and/or other materials provided with the distribution. 00019 * Neither the name of the <organization> nor the 00020 names of its contributors may be used to endorse or promote products 00021 derived from this software without specific prior written permission. 00022 00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY 00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 00034 */ 00035 00036 #ifndef LIBPOINTMATCHER_POINTTOPOINT_H 00037 #define LIBPOINTMATCHER_POINTTOPOINT_H 00038 00039 #include "PointMatcher.h" 00040 00041 template<typename T> 00042 struct PointToPointErrorMinimizer: PointMatcher<T>::ErrorMinimizer 00043 { 00044 typedef PointMatcherSupport::Parametrizable Parametrizable; 00045 typedef Parametrizable::Parameters Parameters; 00046 typedef Parametrizable::ParametersDoc ParametersDoc; 00047 00048 typedef typename PointMatcher<T>::TransformationParameters TransformationParameters; 00049 typedef typename PointMatcher<T>::ErrorMinimizer::ErrorElements ErrorElements; 00050 typedef typename PointMatcher<T>::DataPoints DataPoints; 00051 typedef typename PointMatcher<T>::OutlierWeights OutlierWeights; 00052 typedef typename PointMatcher<T>::Matches Matches; 00053 typedef typename PointMatcher<T>::Vector Vector; 00054 typedef typename PointMatcher<T>::Matrix Matrix; 00055 typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer; 00056 00057 inline static const std::string description() 00058 { 00059 return "Point-to-point error. Based on SVD decomposition. Per \\cite{Besl1992Point2Point}."; 00060 } 00061 00062 00063 PointToPointErrorMinimizer(); 00064 PointToPointErrorMinimizer(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params); 00065 virtual TransformationParameters compute(const ErrorElements& mPts); 00066 TransformationParameters compute_in_place(ErrorElements& mPts); 00067 virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const; 00068 virtual T getOverlap() const; 00069 00070 static T computeResidualError(const ErrorElements& mPts); 00071 }; 00072 00073 #endif //LIBPOINTMATCHER_POINTTOPOINT_H