CCCoreLib::RegistrationTools Class Reference

Common point cloud registration algorithms. More...

#include <RegistrationTools.h>

Inheritance diagram for CCCoreLib::RegistrationTools:

Collaboration diagram for CCCoreLib::RegistrationTools:

Public Types
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 void	FilterTransformation (const ScaledTransformation &inTrans, int transformationFilters, ScaledTransformation &outTrans)
	'Filters' a transformation by constraining it along certain rotation axes and translation directions More...

Static Protected Member Functions
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

Common point cloud registration algorithms.

Member Function Documentation

FilterTransformation()

void RegistrationTools::FilterTransformation ( const ScaledTransformation &  inTrans, int  transformationFilters, ScaledTransformation &  outTrans  )

static

'Filters' a transformation by constraining it along certain rotation axes and translation directions

Parameters

inTrans	input transformation
transformationFilters	filters to be applied on the resulting transformation at each step (experimental) - see RegistrationTools::TRANSFORMATION_FILTERS flags
outTrans	output transformation

RegistrationProcedure()

bool RegistrationTools::RegistrationProcedure ( GenericCloud *  P, GenericCloud *  X, ScaledTransformation &  trans, bool  adjustScale = false, ScalarField *  coupleWeights = nullptr, PointCoordinateType  aPrioriScale = 1.0f  )

staticprotected

ICP Registration procedure with optional scale estimation.

Determines the best quaternion (a couple qR|qT) and optionally a scale 's' (different from a priori scale Sa) to bring the cloud P closer to the reference cloud X (one step). Refer to the ICP algorithm theory for more details about this procedure, and to "Point Set Registration with Integrated Scale Estimation", Znisser et al, PRIP 2005 for the scale estimation.

X = Sa.s.R.P + T (with Sa = s = 1 by default)

Warning: P and X must have the same size, and must be in the same order (i.e. P[i] is the point equivalent to X[i] for all 'i').

Parameters

P	the cloud to register (data)
X	the reference cloud (model)
trans	the resulting transformation
adjustScale	whether to estimate scale (s) as well (see jschmidt 2005)
coupleWeights	weights for each (Pi,Xi) couple (optional)
aPrioriScale	'a priori' scale (Sa) between P and X

Returns

success

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

• RegistrationTools.h
• RegistrationTools.cpp