Common point cloud registration algorithms. More...

#include <RegistrationTools.h>

Inheritance diagram for cloudViewer::RegistrationTools:

[legend]

Collaboration diagram for cloudViewer::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. More...

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

Static Public Member Functions
static void	FilterTransformation (const ScaledTransformation &inTrans, int transformationFilters, const CCVector3 &toBeAlignedGravityCenter, const CCVector3 &referenceGravityCenter, ScaledTransformation &outTrans)

Static Protected Member Functions
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

Common point cloud registration algorithms.

Definition at line 23 of file RegistrationTools.h.

Member Typedef Documentation

◆ ScaledTransformation

using cloudViewer::RegistrationTools::ScaledTransformation = PointProjectionTools::Transformation

Shortcut to PointProjectionTools::ScaledTransformation.

Definition at line 26 of file RegistrationTools.h.

Member Enumeration Documentation

◆ TRANSFORMATION_FILTERS

enum cloudViewer::RegistrationTools::TRANSFORMATION_FILTERS

Transformation constraints.

Enumerator
SKIP_NONE
SKIP_RXY
SKIP_RYZ
SKIP_RXZ
SKIP_ROTATION
SKIP_TX
SKIP_TY
SKIP_TZ
SKIP_TRANSLATION

Definition at line 29 of file RegistrationTools.h.

Member Function Documentation

◆ FilterTransformation()

void RegistrationTools::FilterTransformation	(	const ScaledTransformation &	inTrans,
		int	transformationFilters,
		const CCVector3 &	toBeAlignedGravityCenter,
		const CCVector3 &	referenceGravityCenter,
		ScaledTransformation &	outTrans
	)

static

'Filters' a transformation by constraining it about some rotation axes and/or along some 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

Definition at line 31 of file RegistrationTools.cpp.

References cloudViewer::PointProjectionTools::Transformation::apply(), cloudViewer::SquareMatrixTpl< Scalar >::getValue(), cloudViewer::SquareMatrixTpl< Scalar >::isValid(), cloudViewer::PointProjectionTools::Transformation::R, cloudViewer::SquareMatrixTpl< Scalar >::setValue(), SKIP_ROTATION, SKIP_RXY, SKIP_RXZ, SKIP_RYZ, SKIP_TRANSLATION, SKIP_TX, SKIP_TY, SKIP_TZ, cloudViewer::PointProjectionTools::Transformation::T, Vector3Tpl< Type >::toDouble(), cloudViewer::SquareMatrixTpl< Scalar >::toIdentity(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccPointPairRegistrationDlg::callHornRegistration(), define_RegistrationTools(), and cloudViewer::ICPRegistrationTools::Register().

◆ RegistrationProcedure()

bool RegistrationTools::RegistrationProcedure	(	GenericCloud *	P,
		GenericCloud *	X,
		ScaledTransformation &	trans,
		bool	adjustScale = `false`,
		ScalarField *	coupleWeights = `nullptr`,
		PointCoordinateType	aPrioriScale = `1.0f`,
		CCVector3 *	Gp = `nullptr`,
		CCVector3 *	Gx = `nullptr`
	)

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

[in]	P	the cloud to register (data)
[in]	X	the reference cloud (model)
[in]	trans	the resulting transformation
[in]	adjustScale	whether to estimate scale (s) as well (see jschmidt 2005)
[in]	coupleWeights	weights for each (Pi,Xi) couple (optional)
[in]	aPrioriScale	'a priori' scale (Sa) between P and X
[out]	Gp	optional: gravity center of the P cloud (potentially weighted)
[out]	Gx	optional: gravity center of the X cloud (potentially weighted)

Returns: success

Definition at line 849 of file RegistrationTools.cpp.

Referenced by cloudViewer::FPCSRegistrationTools::FilterCandidates(), cloudViewer::HornRegistrationTools::FindAbsoluteOrientation(), and cloudViewer::ICPRegistrationTools::Register().

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

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

Public Types

Static Public Member Functions

Static Protected Member Functions