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TransformationEstimationSVD.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
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12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
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23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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27  // PURPOSE. See the GNU General Public License for more details. //
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30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONSVD_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONSVD_H_
38 
40 
41 namespace nrt
42 {
43  //! Estimates a rigid transform using singular value decomposition
45  {
46  typedef PointCloud2::AffineTransform AffineTransform;
47 
48  public:
49  //! Estimates a rigid transformation between a source and target cloud
50  /*! @param source The source point cloud
51  @param target The target point cloud
52  @return The 4x4 rotation matrix that performs the transform */
53  AffineTransform estimateTransform( PointCloud2 const source,
54  PointCloud2 const target );
55 
56  //! Estimates a rigid transformation between a source and target cloud
57  /*! @param source The source point cloud
58  @param target The target point cloud
59  @param correspondences The correspondences between two clouds
60  @return The 4x4 rotation matrix that performs the transform */
61  AffineTransform estimateTransform( PointCloud2 const source,
62  PointCloud2 const target,
63  Correspondences const correspondences );
64 
65  //! Gets the minimum required number of correspondences to estimate a transform
66  inline size_t minimumNumCorrespondences() const { return 3; }
67 
68  protected:
69  //! Does the actual estimation
70  /*! Use either ref or r value ref here since we want this to work
71  with the virtual functions in the iterators */
72  AffineTransform estimate( PointCloud2::ConstIterator<> && sourceBegin,
73  PointCloud2::ConstIterator<> && targetBegin,
74  const size_t srcSize );
75  };
76 } // namespace nrt
77 
78 #endif // NRT_POINTCLOUD2_REGISTRATION_TRANSFORMATION_TRANSFORMATIONESTIMATIONSVD_H_
79 #endif // NRT_HAVE_CLOUD