Developer Documentation
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Functions | |
template<typename VectorT > | |
VectorT | center_of_gravity (const std::vector< VectorT > &_points) |
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... | |
Namespace for ICP.
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:
_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 |
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:
_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 |