Base class for 3D transformation estimations from two point sets. More...

#include <EstimateTransformation3D.hpp>

Inheritance diagram for TRTK::EstimateTransformation3D< T >:

Collaboration diagram for TRTK::EstimateTransformation3D< T >:

Public Types
typedef super::ArrayXT	ArrayXT
	General-purpose array of arbitrary size with value type T.
typedef super::MatrixXT	MatrixXT
	Matrix of arbitrary size with value type T.
typedef super::VectorXT	VectorXT
	Column vector of arbitrary size with value type T.
typedef super::Vector2T	Vector2T
	2D column vector with value type T.
typedef super::Vector3T	Vector3T
	3D column vector with value type T.
typedef super::Vector4T	Vector4T
	4D column vector with value type T.
typedef super::RowVector2T	RowVector2T
	2D row vector with value type T.
typedef super::RowVector3T	RowVector3T
	3D row vector with value type T.
typedef super::Matrix2T	Matrix2T
	2 x 2 matrix with value type T.
typedef super::Matrix3T	Matrix3T
	3 x 3 matrix with value type T.
typedef super::Matrix4T	Matrix4T
	4 x 4 matrix with value type T.
enum	Error { NOT_ENOUGH_POINTS, UNEQUAL_NUMBER_OF_POINTS, UNKNOWN_ERROR, WRONG_POINT_SIZE }
Public Member Functions
	EstimateTransformation3D ()
	Constructs a new initialized instance of this class.
virtual	~EstimateTransformation3D ()
	Deletes the instance.
virtual void	compute ()=0
	Performs the transformation estimation.
virtual value_type	getRMS () const
	Returns the root mean square (RMS) error of the estimated transformation.
virtual const Matrix4T &	getTransformationMatrix () const
void	setSourcePoints (const std::vector< Coordinate< T > > &)
	Sets the source points.
void	setSourcePoints (const std::vector< Vector3T > &)
	Sets the source points.
void	setSourcePoints (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &)
	Sets the source points.
void	setTargetPoints (const std::vector< Coordinate< T > > &)
	Sets the target points.
void	setTargetPoints (const std::vector< Vector3T > &)
	Sets the target points.
void	setTargetPoints (const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > &)
	Sets the target points.
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef T	value_type
	Internally used value type (should be a floating point type).
Protected Attributes
MatrixXT	m_source_points
MatrixXT	m_target_points
Matrix4T	m_transformation_matrix

Detailed Description

template<class T>
class TRTK::EstimateTransformation3D< T >

Base class for 3D transformation estimations from two point sets.

Note:: Some functions might throw an error object. See the appropriate function for more details.

See also:: EstimateTransformation

Author:: Christoph Haenisch

Version:: 0.1.1

Date:: 2011-08-05

Definition at line 54 of file EstimateTransformation3D.hpp.

Member Enumeration Documentation

template<class T>

enum TRTK::EstimateTransformation::Error [inherited]

Enumerator:

NOT_ENOUGH_POINTS	More points are required to estimate the transformation.
UNEQUAL_NUMBER_OF_POINTS	The two point sets do not have the same cardinality.
UNKNOWN_ERROR	An unknown error occured.
WRONG_POINT_SIZE	One or more points have a wrong size.

Definition at line 62 of file EstimateTransformation.hpp.

Constructor & Destructor Documentation

template<class T >

TRTK::EstimateTransformation3D< T >::EstimateTransformation3D ( )

Constructs a new initialized instance of this class.

Template Parameters:

T	scalar type of the coordinates

Definition at line 114 of file EstimateTransformation3D.hpp.

template<class T >

TRTK::EstimateTransformation3D< T >::~EstimateTransformation3D ( ) [virtual]

Deletes the instance.

Template Parameters:

T	scalar type of the coordinates

Definition at line 126 of file EstimateTransformation3D.hpp.

Member Function Documentation

template<class T >

EstimateTransformation3D< T >::value_type TRTK::EstimateTransformation3D< T >::getRMS ( ) const [virtual]

Returns the root mean square (RMS) error of the estimated transformation.

Template Parameters:

T	scalar type of the coordinates

It is assumed, that the computation was done before.

The value type T must provide a function T sqrt(T value) which yields the square root of value.

Exceptions:

ErrorObj If the point sets do not have the same cardinality, an error object is thrown and its error code is set to UNEQUAL_NUMBER_OF_POINTS.

See also:: compute()

Implements TRTK::EstimateTransformation< T >.

Definition at line 149 of file EstimateTransformation3D.hpp.

template<class T >

const EstimateTransformation3D< T >::Matrix4T & TRTK::EstimateTransformation3D< T >::getTransformationMatrix ( ) const [virtual]

Template Parameters:

T	scalar type of the coordinates

Returns:: Returns the sought transformation matrix in the form of a homogeneous 4x4 matrix. (This comprises the rotation as well as the translation, for instances.)

See also:: compute()

Definition at line 195 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setSourcePoints ( const std::vector< Coordinate< T > > & source_points )

Sets the source points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] source_points The points can either be plain 3D or 4D homogeneous coordinates.

Exceptions:

ErrorObj If there are any coordinates other than 3D or 4D coordinates, an error object is thrown and its error code is set to WRONG_POINT_SIZE.

Definition at line 215 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setSourcePoints ( const std::vector< Vector3T > & source_points )

Sets the source points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] source_points 3D coordinates.

Definition at line 247 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setSourcePoints ( const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > & source_points )

Sets the source points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] source_points 4D homogeneous coordinates.

Definition at line 265 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setTargetPoints ( const std::vector< Vector4T, Eigen::aligned_allocator< Vector4T > > & target_points )

Sets the target points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] target_points 4D homogeneous coordinates.

Definition at line 343 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setTargetPoints ( const std::vector< Coordinate< T > > & target_points )

Sets the target points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] target_points The points can either be plain 3D or 4D homogeneous coordinates.

Exceptions:

ErrorObj If there are any coordinates other than 3D or 4D coordinates, an error object is thrown and its error code is set to WRONG_POINT_SIZE.

Definition at line 293 of file EstimateTransformation3D.hpp.

template<class T>

void TRTK::EstimateTransformation3D< T >::setTargetPoints ( const std::vector< Vector3T > & target_points )

Sets the target points.

Template Parameters:

T	scalar type of the coordinates

Parameters:

[in] target_points 3D coordinates.

Definition at line 325 of file EstimateTransformation3D.hpp.

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

D:/Programmierung/C/TRTK/include/TRTK/EstimateTransformation3D.hpp

TRTK::EstimateTransformation3D< T > Class Template Reference

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<class T> class TRTK::EstimateTransformation3D< T >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class TRTK::EstimateTransformation3D< T >