icl::geom::ICP Class Reference

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

#include <ICP.h>

Inheritance diagram for icl::geom::ICP:

Classes
struct	Result
	Simple result structure. More...

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

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 More...

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 More...

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

Additional Inherited Members
Protected Member Functions inherited from icl::utils::Uncopyable
	Uncopyable ()
	Empty base constructor. More...

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

ICP() [1/3]

icl::geom::ICP::ICP

(

std::vector< math::DynMatrix< icl64f > > &

model

)

constructor with given model data

TODO is the data passed shallowly or deeply

ICP() [2/3]

icl::geom::ICP::ICP

(

std::vector< math::DynMatrix< icl64f > * > &

model

)

constructor with given model data

TODO is the data passed shallowly or deeply

ICP() [3/3]

icl::geom::ICP::ICP

(

)

Empty constructor without given model data.

~ICP()

icl::geom::ICP::~ICP

(

)

Destructor.

Member Function Documentation

apply()

const Result& icl::geom::ICP::apply

(

const std::vector< math::DynMatrix< icl64f > * > &

pointlist

)

applies the ICP on given point cloude

compute()

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

error()

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

kdt

math::KDTree icl::geom::ICP::kdt

private

internal data structure for efficient search

m_result

Result icl::geom::ICP::m_result

private

rotation, translation and error value Result m_result;

---

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

• /Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/ICP.h