ICP Namespace Reference

Namespace for ICP. More...

Functions
template<typename VectorT , typename QuaternionT >
void	icp (const std::vector< VectorT > &_points1, const std::vector< VectorT > &_points2, VectorT &_cog1, VectorT &_cog2, double &_scale1, double &_scale2, QuaternionT &_rotation)
	Compute rigid transformation from first point set to second point set. More...
template<typename VectorT , typename QuaternionT >
void	icp (const std::vector< VectorT > &_points1, const std::vector< VectorT > &_points2, VectorT &_cog1, VectorT &_cog2, QuaternionT &_rotation)
	Compute rigid transformation from first point set to second point set without scaling. More...
template<typename VectorT >
VectorT	center_of_gravity (const std::vector< VectorT > &_points)

Detailed Description

Namespace for ICP.

Function Documentation

icp() [1/2]

template<typename VectorT , typename QuaternionT >

void ICP::icp	(	const std::vector< VectorT > &	_points1,
		const std::vector< VectorT > &	_points2,
		VectorT &	_cog1,
		VectorT &	_cog2,
		double &	_scale1,
		double &	_scale2,
		QuaternionT &	_rotation
	)

Compute rigid transformation from first point set to second point set.

Compute ICP Parameters ( No iteration is done ) Points are unchanged, only parameters are computed.

To transform pointset 1 into pointset 2 do the folowing:

• substract cog1 from pointset 1
  
• scale points with 1/scale1
  
• rotate with given rotation
  
• scale with scale2
  
• add cog2
  

  Parameters

  _points1	first set of points
  _points2	second set of points
  _cog1	center of gravity first point set
  _cog2	center of gravity second point set
  _scale1	scaling factor of first point set
  _scale2	scaling factor of second point set
  _rotation	Rotation between point sets ( rotation(_points1) -> _points2

Definition at line 85 of file ICPT_impl.hh.

icp() [2/2]

template<typename VectorT , typename QuaternionT >

void ICP::icp	(	const std::vector< VectorT > &	_points1,
		const std::vector< VectorT > &	_points2,
		VectorT &	_cog1,
		VectorT &	_cog2,
		QuaternionT &	_rotation
	)

Compute rigid transformation from first point set to second point set without scaling.

Compute ICP Parameters ( No iteration is done ) Points are unchanged, only parameters are computed.

To transform pointset 1 into pointset 2 do the folowing:

• substract cog1 from pointset 1
  
• rotate with given rotation
  
• add cog2
  

  Parameters

  _points1	first set of points
  _points2	second set of points
  _cog1	center of gravity first point set
  _cog2	center of gravity second point set
  _rotation	Rotation between point sets ( rotation(_points1) -> _points2

Definition at line 185 of file ICPT_impl.hh.