TRTK::Icp3D< ValueType > Class Template Reference

ICP algorithm for 3D point clouds as described by Besl and McKay [1]. More...

#include <Icp.hpp>

Inheritance diagram for TRTK::Icp3D< ValueType >:

Collaboration diagram for TRTK::Icp3D< ValueType >:

List of all members.

Public Types
typedef super::Matrix	Matrix
Public Member Functions
ValueType	compute ()
void	setSourcePoints (const std::vector< Coordinate< ValueType > > &source_points)
	Set the data points as decribed here.
void	setTargetPoints (const std::vector< Coordinate< ValueType > > &target_points)
	Set the model points as decribed here.
void	setInitialEstimation (const Matrix &transformation)
	Set the initial transformation from the source to the target point coordinate system.
void	setEstimationAlgorithm (EstimateTransformation3D< ValueType > &estimator)
	Set the transformation estimator.
void	setMaximumNumberIterations (unsigned number)
	Set the maximum number of iterations performed by an algorithm (default is 20).
void	setMaximumRMSE (ValueType value)
	Set an upper bound of the root mean square error; an algorithm terminates if the error of the current estimation falls below this value (default is 0).
void	setEpsApproximate (float value)
	Set the value for the eps-approximate neighbor search. The higher the value the faster the search (but also the less accurate) (default is 0).
void	abortComputation ()
	Call this function to abort a running algorithm.
const Matrix &	getTransformation ()
	Returns the estimated transformation in the form of a homogeneous matrix.
Public Attributes
Signal< unsigned >	progress
	Provides the current state of computation (from 0 to 100).
Protected Attributes
unsigned	dimension
	Dimension of the source and target points.
const std::vector< Coordinate < ValueType > > *	source_points
	Reference to the data points given by the user. An algorithm might store a local copy which is transformed during the registration procedure.
flann::Matrix< ValueType >	target_points
	Internal copy of the model points given by the user.
flann::Matrix< ValueType >	query_point
	Query point used to search the kd-tree.
flann::Matrix< ValueType >	distances
	Distance to the nearest neighbor obtained by a nearest neighbor search.
flann::Matrix< int >	indices
	Index of the nearest neighbor in target_points obtained by a nearest neighbor search.
flann::Index< flann::L2 < ValueType > > *	tree
	Data structure of the search index (kd-tree).
float	eps
	Eps-approximate value for the nearest neighbor search.
EstimateTransformation3D < ValueType > *	estimator
	Reference to the user-provided estimator.
unsigned	maximum_number_iterations
	Maximum possible number of iterations during the computation.
ValueType	maximum_rms_error
	Iteration stop criterion. If the current RMSE falls below this bound, an algorithm might terminate.
Matrix	transformation
	Internally stored (homogeneous) transformation.
volatile bool	abort
	This flag must be checked during iterations; can be set by other threads through abortComputation().

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Detailed Description

template<class ValueType>
class TRTK::Icp3D< ValueType >

ICP algorithm for 3D point clouds as described by Besl and McKay [1].

Template Parameters:

ValueType

Scalar type (must be a floating point type).

For a more detailed description and how to use this class, please have a look at the interface class.

See also:

IcpInterface and IcpBase

References:

[1] Paul J. Besl and Neil D. McKay, "A Method for Registration of 3-D Shapes", IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992

Author:

Christoph Haenisch

Version:

0.1.1

Date:

last changed on 2012-08-07

Definition at line 471 of file Icp.hpp.

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Member Function Documentation

template<class ValueType >

ValueType TRTK::Icp3D< ValueType >::compute

(

)

[virtual]

Exceptions:

range_error

A range error exception is thrown if no model points are given.

Note:

The given estimator might throw an exception as well.

Implements TRTK::IcpBase< ValueType >.

Definition at line 511 of file Icp.hpp.

template<class ValueType >

void TRTK::IcpBase< ValueType >::setSourcePoints

(

const std::vector< Coordinate< ValueType > > &

source_points )

[virtual, inherited]

Set the data points as decribed here.

Only a reference is stored.

Implements TRTK::IcpInterface< ValueType >.

Definition at line 404 of file Icp.hpp.

template<class ValueType >

void TRTK::IcpBase< ValueType >::setTargetPoints

(

const std::vector< Coordinate< ValueType > > &

target_points )

[virtual, inherited]

Set the model points as decribed here.

The targe points are copied.

Implements TRTK::IcpInterface< ValueType >.

Definition at line 413 of file Icp.hpp.

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

• D:/Programmierung/C/TRTK/include/TRTK/Icp.hpp