1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2010-2012, Willow Garage, Inc. 6 * 7 * All rights reserved. 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions 11 * are met: 12 * 13 * * Redistributions of source code must retain the above copyright 14 * notice, this list of conditions and the following disclaimer. 15 * * Redistributions in binary form must reproduce the above 16 * copyright notice, this list of conditions and the following 17 * disclaimer in the documentation and/or other materials provided 18 * with the distribution. 19 * * Neither the name of the copyright holder(s) nor the names of its 20 * contributors may be used to endorse or promote products derived 21 * from this software without specific prior written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 34 * POSSIBILITY OF SUCH DAMAGE. 35 * 36 */ 37 38 #pragma once 39 40 #include <pcl/correspondence.h> 41 #include <pcl/memory.h> 42 #include <pcl/pcl_macros.h> 43 #include <pcl/types.h> 44 45 namespace pcl 46 { 47 /** 48 * \brief calculate 3D transformation based on point correspondences 49 * \author Bastian Steder 50 * \ingroup common 51 */ 52 class PCL_EXPORTS PosesFromMatches 53 { 54 public: 55 // =====STRUCTS===== 56 //! Parameters used in this class 57 struct PCL_EXPORTS Parameters 58 { 59 float max_correspondence_distance_error = 0.2f; // As a fraction 60 }; 61 62 //! A result of the pose estimation process 63 struct PoseEstimate 64 { 65 Eigen::Affine3f transformation = Eigen::Affine3f::Identity (); //!< The estimated transformation between the two coordinate systems 66 float score = 0; //!< An estimate in [0,1], how good the estimated pose is 67 Indices correspondence_indices; //!< The indices of the used correspondences 68 69 struct IsBetter 70 { operatorPoseEstimate::IsBetter71 bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;} 72 }; 73 public: 74 PCL_MAKE_ALIGNED_OPERATOR_NEW 75 }; 76 77 // =====TYPEDEFS===== 78 using PoseEstimatesVector = std::vector<PoseEstimate, Eigen::aligned_allocator<PoseEstimate> >; 79 80 81 // =====STATIC METHODS===== 82 83 // =====PUBLIC METHODS===== 84 /** Use single 6DOF correspondences to estimate transformations between the coordinate systems. 85 * Use max_no_of_results=-1 to use all. 86 * It is assumed, that the correspondences are sorted from good to bad. */ 87 void 88 estimatePosesUsing1Correspondence ( 89 const PointCorrespondences6DVector& correspondences, 90 int max_no_of_results, PoseEstimatesVector& pose_estimates) const; 91 92 /** Use pairs of 6DOF correspondences to estimate transformations between the coordinate systems. 93 * It is assumed, that the correspondences are sorted from good to bad. */ 94 void 95 estimatePosesUsing2Correspondences ( 96 const PointCorrespondences6DVector& correspondences, 97 int max_no_of_tested_combinations, int max_no_of_results, 98 PoseEstimatesVector& pose_estimates) const; 99 100 /** Use triples of 6DOF correspondences to estimate transformations between the coordinate systems. 101 * It is assumed, that the correspondences are sorted from good to bad. */ 102 void 103 estimatePosesUsing3Correspondences ( 104 const PointCorrespondences6DVector& correspondences, 105 int max_no_of_tested_combinations, int max_no_of_results, 106 PoseEstimatesVector& pose_estimates) const; 107 108 /// Get a reference to the parameters struct 109 Parameters& getParameters()110 getParameters () { return parameters_; } 111 112 protected: 113 // =====PROTECTED MEMBER VARIABLES===== 114 Parameters parameters_; 115 116 }; 117 118 } // end namespace pcl 119