ICP point cloud registration algorithm (Besl et al.). More...

#include <RegistrationTools.h>

Inheritance diagram for CCCoreLib::ICPRegistrationTools:

Collaboration diagram for CCCoreLib::ICPRegistrationTools:

Public Types
enum	CONVERGENCE_TYPE { MAX_ERROR_CONVERGENCE = 0 , MAX_ITER_CONVERGENCE = 1 }
	Convergence control method.

enum	RESULT_TYPE { ICP_NOTHING_TO_DO = 0 , ICP_APPLY_TRANSFO = 1 , ICP_ERROR = 100 , ICP_ERROR_REGISTRATION_STEP = 101 , ICP_ERROR_DIST_COMPUTATION = 102 , ICP_ERROR_NOT_ENOUGH_MEMORY = 103 , ICP_ERROR_CANCELED_BY_USER = 104 , ICP_ERROR_INVALID_INPUT = 105 }
	Errors.

enum	NORMALS_MATCHING { NO_NORMAL = 0 , OPPOSITE_NORMALS = 1 , SAME_SIDE_NORMALS = 2 , DOUBLE_SIDED_NORMALS = 3 }
	Normals matching method.

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 Public Member Functions
static RESULT_TYPE	Register (GenericIndexedCloudPersist modelCloud, GenericIndexedMesh modelMesh, GenericIndexedCloudPersist dataCloud, const Parameters &params, ScaledTransformation &totalTrans, double &finalRMS, unsigned &finalPointCount, GenericProgressCallback progressCb=nullptr)
	Registers two clouds or a cloud and a mesh. 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
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

ICP point cloud registration algorithm (Besl et al.).

Member Function Documentation

ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register	(	GenericIndexedCloudPersist *	modelCloud,
		GenericIndexedMesh *	modelMesh,
		GenericIndexedCloudPersist *	dataCloud,
		const Parameters &	params,
		ScaledTransformation &	totalTrans,
		double &	finalRMS,
		unsigned &	finalPointCount,
		GenericProgressCallback *	progressCb = `nullptr`
	)

static

Registers two clouds or a cloud and a mesh.

This method implements the ICP algorithm (Besl et al.) with various improvements (random sampling, optional weights, normals matching, etc.).

Warning: Be sure to activate an INPUT/OUTPUT scalar field on the point cloud.; The mesh is always the reference/model entity.

Parameters

	modelCloud	the reference cloud or the vertices of the reference mesh --> won't move
	modelMesh	the reference mesh (optional) --> won't move
	dataCloud	the cloud to register --> will move
	params	ICP parameters
[out]	totalTrans	the resulting transformation (once the algorithm has converged)
[out]	finalRMS	final error (RMS)
[out]	finalPointCount	number of points used to compute the final RMS
	progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

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