#include <SQFitter.h>

Classes
struct	eulerPosError
	Structure, that contains the error function for the euler angles and position parameters. More...
struct	shapeError
	Structure, that contains the error function for the shape parameters. More...
Public Types
typedef icl::math::LevenbergMarquardtFitter < float >	LM
	Levenberg-Marquardt.
Public Member Functions
	SQFitter (icl::utils::SmartPtr< Vec > camCenter=utils::SmartPtr< Vec >())
	Constructor.
bool	fit (icl::geom::PointCloudObject &pcObj, const std::string &sShapePreference="bsc", size_t maxNumPoints=0)
	fits superquadrics into given point cloud, considering only given number of points
const SQParams &	getParams () const
	returns the last calculated parameters
void	setCameraCenter (const Vec &c)
	changes the camera center
Private Member Functions
void	fitSQ (LM::Matrix &Mx, math::Vec3 &viewDir, const std::string &sShapePreference)
	internal function, that fits a superquadric into given point cloud
void	preProcess (LM::Matrix &Mx, math::Vec3 &viewDir, const std::string &sShapePreference, icl::math::FixedMatrix< float, 3, 3 > &R, math::Vec3 &center, math::Vec3 &size, math::Vec3 &origin, float &scale)
	internal function, that prepares some data for fitting of superquadrics
LM::Result	fitShape (int i, icl::math::FixedMatrix< float, 3, 3 > &R, LM::Matrix &Mx, SQParams &params, math::Vec3 &size, math::Vec3 &euler)
	internal function, that determines the shape parameters
Private Attributes
SQFitter::shapeError	sError
	structure containing an error function
SQFitter::eulerPosError	ePError
	structure containing an error function
LM::FunctionMat	sErrorFunc
	error function for the shape
LM::FunctionMat	ePErrorFunc
	error function for the euler angles and the position
LM	shapeLM
	Levenberg-Marquardt for the shape.
LM	eulerPosLM
	Levenberg-Marquardt for the euler angles and the position.
SQParams	params
	last solution
icl::utils::SmartPtr< Vec >	camCenter
	camera center

Member Typedef Documentation

typedef icl::math::LevenbergMarquardtFitter<float> icl::geom::SQFitter::LM

Levenberg-Marquardt.

Constructor & Destructor Documentation

icl::geom::SQFitter::SQFitter ( icl::utils::SmartPtr< Vec > camCenter = utils::SmartPtr< Vec >() )

Constructor.

Member Function Documentation

bool icl::geom::SQFitter::fit	(	icl::geom::PointCloudObject &	pcObj,
		const std::string &	sShapePreference = `"bsc"`,
		size_t	maxNumPoints = `0`
	)

fits superquadrics into given point cloud, considering only given number of points

LM::Result icl::geom::SQFitter::fitShape	(	int	i,
		icl::math::FixedMatrix< float, 3, 3 > &	R,
		LM::Matrix &	Mx,
		SQParams &	params,
		math::Vec3 &	size,
		math::Vec3 &	euler
	)		`[private]`

internal function, that determines the shape parameters

void icl::geom::SQFitter::fitSQ	(	LM::Matrix &	Mx,
		math::Vec3 &	viewDir,
		const std::string &	sShapePreference
	)		`[private]`

internal function, that fits a superquadric into given point cloud

const SQParams& icl::geom::SQFitter::getParams ( ) const [inline]

returns the last calculated parameters

void icl::geom::SQFitter::preProcess	(	LM::Matrix &	Mx,
		math::Vec3 &	viewDir,
		const std::string &	sShapePreference,
		icl::math::FixedMatrix< float, 3, 3 > &	R,
		math::Vec3 &	center,
		math::Vec3 &	size,
		math::Vec3 &	origin,
		float &	scale
	)		`[private]`