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2b5a2b6 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_ESTIMATORS_EUCLIDEAN_TRANSFORM_H_
#define COLMAP_SRC_ESTIMATORS_EUCLIDEAN_TRANSFORM_H_
#include "base/similarity_transform.h"
#include "util/alignment.h"
namespace colmap {
// N-D Euclidean transform estimator from corresponding point pairs in the
// source and destination coordinate systems.
//
// This algorithm is based on the following paper:
//
// S. Umeyama. Least-Squares Estimation of Transformation Parameters
// Between Two Point Patterns. IEEE Transactions on Pattern Analysis and
// Machine Intelligence, Volume 13 Issue 4, Page 376-380, 1991.
// http://www.stanford.edu/class/cs273/refs/umeyama.pdf
//
// and uses the Eigen implementation.
template <int kDim>
using EuclideanTransformEstimator = SimilarityTransformEstimator<kDim, false>;
} // namespace colmap
#endif // COLMAP_SRC_ESTIMATORS_EUCLIDEAN_TRANSFORM_H_
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