cloudViewer::HornRegistrationTools Class Reference

Horn point cloud registration algorithm. More...

#include <RegistrationTools.h>

Inheritance diagram for cloudViewer::HornRegistrationTools:

Collaboration diagram for cloudViewer::HornRegistrationTools:

Static Public Member Functions
static bool	FindAbsoluteOrientation (GenericCloud *lCloud, GenericCloud *rCloud, ScaledTransformation &trans, bool fixedScale=false)
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 cloudViewer::RegistrationTools
static void	FilterTransformation (const ScaledTransformation &inTrans, int transformationFilters, const CCVector3 &toBeAlignedGravityCenter, const CCVector3 &referenceGravityCenter, ScaledTransformation &outTrans)

Additional Inherited Members
Public Types inherited from cloudViewer::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. More...
using	ScaledTransformation = PointProjectionTools::Transformation
	Shortcut to PointProjectionTools::ScaledTransformation. More...
Static Protected Member Functions inherited from cloudViewer::RegistrationTools
static bool	RegistrationProcedure (GenericCloud *P, GenericCloud *X, ScaledTransformation &trans, bool adjustScale=false, ScalarField *coupleWeights=nullptr, PointCoordinateType aPrioriScale=1.0f, CCVector3 *Gp=nullptr, CCVector3 *Gx=nullptr)
	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.

Definition at line 93 of file RegistrationTools.h.

Member Function Documentation

ComputeRMS()

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

lCloud	left cloud {Pl}
rCloud	right cloud {Pr}
trans	transformation: Pr = s.R.Pl + T

Returns

RMS (or -1.0 if an error occurred)

Definition at line 824 of file RegistrationTools.cpp.

References cloudViewer::PointProjectionTools::Transformation::apply(), count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::GenericCloud::placeIteratorAtBeginning(), and cloudViewer::GenericCloud::size().

Referenced by ccPointPairRegistrationDlg::callHornRegistration(), and define_RegistrationTools().

FindAbsoluteOrientation()

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

Returns

success

Definition at line 816 of file RegistrationTools.cpp.

References cloudViewer::RegistrationTools::RegistrationProcedure().

Referenced by ccPointPairRegistrationDlg::callHornRegistration(), and define_RegistrationTools().

---

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

• /root/ACloudViewer/core/include/RegistrationTools.h
• /root/ACloudViewer/core/src/RegistrationTools.cpp