Image Component Library (ICL)
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Implementaiton of the Iterator Closest utils::Point (ICP) Algorithm. More...
#include <ICP.h>
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 Result & | apply (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 |
Implementaiton of the Iterator Closest utils::Point (ICP) Algorithm.
TODO: Add Documentation What about a fixed 3D-Version that uses 3D-Fixed Matrix data?
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.
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
math::KDTree icl::geom::ICP::kdt [private] |
internal data structure for efficient search
Result icl::geom::ICP::m_result [private] |
rotation, translation and error value Result m_result;