Image Component Library (ICL)
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icl::geom::ICP Class Reference

Implementaiton of the Iterator Closest utils::Point (ICP) Algorithm. More...

#include <ICP.h>

Inheritance diagram for icl::geom::ICP:
icl::utils::Uncopyable

List of all members.

Classes

struct  Result
 Simple result structure. More...

Public Member Functions

 ICP (std::vector< math::DynMatrix< icl64f > > &model)
 constructor with given model data
 ICP (std::vector< math::DynMatrix< icl64f > * > &model)
 constructor with given model data
 ICP ()
 Empty constructor without given model data.
 ~ICP ()
 Destructor.
const Resultapply (const std::vector< math::DynMatrix< icl64f > * > &pointlist)
 applies the ICP on given point cloude

Static Public Member Functions

static double error (const std::vector< math::DynMatrix< icl64f > * > &dat, const std::vector< math::DynMatrix< icl64f > * > &mod)
 computes th error between given model and data cloude

Private Member Functions

math::DynMatrix< icl64f > * compute (const std::vector< math::DynMatrix< icl64f > * > &data, const std::vector< math::DynMatrix< icl64f > * > &model)
 internally used utility function

Private Attributes

Result m_result
 rotation, translation and error value Result m_result;
math::KDTree kdt
 internal data structure for efficient search

Detailed Description

Implementaiton of the Iterator Closest utils::Point (ICP) Algorithm.

TODO: Add Documentation What about a fixed 3D-Version that uses 3D-Fixed Matrix data?


Constructor & Destructor Documentation

icl::geom::ICP::ICP ( std::vector< math::DynMatrix< icl64f > > &  model)

constructor with given model data

TODO is the data passed shallowly or deeply

icl::geom::ICP::ICP ( std::vector< math::DynMatrix< icl64f > * > &  model)

constructor with given model data

TODO is the data passed shallowly or deeply

Empty constructor without given model data.

Destructor.


Member Function Documentation

const Result& icl::geom::ICP::apply ( const std::vector< math::DynMatrix< icl64f > * > &  pointlist)

applies the ICP on given point cloude

math::DynMatrix<icl64f>* icl::geom::ICP::compute ( const std::vector< math::DynMatrix< icl64f > * > &  data,
const std::vector< math::DynMatrix< icl64f > * > &  model 
) [private]

internally used utility function

static double icl::geom::ICP::error ( const std::vector< math::DynMatrix< icl64f > * > &  dat,
const std::vector< math::DynMatrix< icl64f > * > &  mod 
) [static]

computes th error between given model and data cloude


Member Data Documentation

internal data structure for efficient search

rotation, translation and error value Result m_result;


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