Horn point cloud registration algorithm. More...

#include <RegistrationTools.h>

Inheritance diagram for CCCoreLib::HornRegistrationTools:

Collaboration diagram for CCCoreLib::HornRegistrationTools:

Static Public Member Functions
static bool	FindAbsoluteOrientation (GenericCloud lCloud, GenericCloud rCloud, ScaledTransformation &trans, bool fixedScale=false)
	Returns "absolute orientation" (scale + transformation) between two set of (unordered) points. More...

static double	ComputeRMS (GenericCloud lCloud, GenericCloud rCloud, const ScaledTransformation &trans)
	Computes RMS between two clouds given a transformation and a scale. More...

Static Public Member Functions inherited from CCCoreLib::RegistrationTools
static void	FilterTransformation (const ScaledTransformation &inTrans, int transformationFilters, ScaledTransformation &outTrans)
	'Filters' a transformation by constraining it along certain rotation axes and translation directions More...

Additional Inherited Members
Public Types inherited from CCCoreLib::RegistrationTools
enum	TRANSFORMATION_FILTERS { SKIP_NONE = 0 , SKIP_RXY = 1 , SKIP_RYZ = 2 , SKIP_RXZ = 4 , SKIP_ROTATION = 7 , SKIP_TX = 8 , SKIP_TY = 16 , SKIP_TZ = 32 , SKIP_TRANSLATION = 56 }
	Transformation constraints.

using	ScaledTransformation = PointProjectionTools::Transformation
	Shortcut to PointProjectionTools::ScaledTransformation.

Static Protected Member Functions inherited from CCCoreLib::RegistrationTools
static bool	RegistrationProcedure (GenericCloud P, GenericCloud X, ScaledTransformation &trans, bool adjustScale=false, ScalarField *coupleWeights=nullptr, PointCoordinateType aPrioriScale=1.0f)
	ICP Registration procedure with optional scale estimation. More...

Detailed Description

Horn point cloud registration algorithm.

See 'Closed-form solution of absolute orientation using unit quaternions', B.K.P. Horn, 1987.

Member Function Documentation

double HornRegistrationTools::ComputeRMS	(	GenericCloud *	lCloud,
		GenericCloud *	rCloud,
		const ScaledTransformation &	trans
	)

static

Computes RMS between two clouds given a transformation and a scale.

Warning: both clouds must have the same size (and at least 3 points) RMS = Sqrt ( Sum( square_norm( Pr - s*R*Pl+T ) ) / count )

Parameters

bool HornRegistrationTools::FindAbsoluteOrientation	(	GenericCloud *	lCloud,
		GenericCloud *	rCloud,
		ScaledTransformation &	trans,
		bool	fixedScale = `false`
	)

static

Returns "absolute orientation" (scale + transformation) between two set of (unordered) points.

Warning: both clouds must have the same size (and at least 3 points) Output transformation is from the left (L) to the right (R) coordinate system

Parameters

lCloud	left cloud {Pl}
rCloud	right cloud {Pr}
trans	resulting transformation: Pr = s.R.Pl + T
fixedScale	force scale parameter to 1.0

The documentation for this class was generated from the following files: