The ICP3D class is a special ICP-case for homogeneous 3D-vectors. More...

#include <ICP3D.h>

Inheritance diagram for icl::geom::ICP3D:

Classes
struct	Result
	The Result struct contains results of an ICP-loop. More...

Public Types
typedef icl::math::FixedColVector< icl32f, 4 >	ICP3DVec

Public Member Functions
	ICP3D (uint32_t const iterations=10, icl32f const max_distance=1.0f, icl64f const errorDelat=0.01f)
	ICP3D Standard constructor. More...

void	build (std::vector< ICP3DVec > const &target, icl32f const &min, icl32f const &len)
	build creates the octree and saves the target More...

void	build (std::vector< ICP3DVec > const &target, icl32f const &minX, icl32f const &minY, icl32f const &minZ, icl32f const &width, icl32f const &height, icl32f const &depth)
	build creates the octree and saves the target More...

Result	apply (std::vector< ICP3DVec > const &source, std::vector< ICP3DVec > &out)
	apply Performs the ICP loop More...

Result	apply (std::vector< ICP3DVec > const &target, std::vector< ICP3DVec > const &source, std::vector< ICP3DVec > &out, icl32f const &min, icl32f const &len)
	apply Performs the ICP loop More...

Result	apply (std::vector< ICP3DVec > const &target, std::vector< ICP3DVec > const &source, std::vector< ICP3DVec > &out, icl32f const &minX, icl32f const &minY, icl32f const &minZ, icl32f const &width, icl32f const &height, icl32f const &depth)
	apply Performs the ICP loop More...

virtual	~ICP3D ()

void	setMaxDistance (icl32f const dist)

icl32f	getMaxDistance ()

void	setErrorDeltaTh (icl64f const th)

icl64f	getErrorDeltaTh ()

void	setMaximumIterations (uint32_t const iterations)

uint32_t	getMaximumIterations ()

std::vector< ICP3DVec > const &	getTarget ()

Public Attributes
uint32_t	maxIterations
	maxIterations Maximum number of iterations More...

icl32f	maxDist
	maxDist Maximal distance allowed between two corresponding points More...

icl64f	errorDeltaTh
	errorDeltaTh Threshold for the change of the error between to ICP-steps. If the error changed less than this threshold the ICP-loop converged and the accumulated transformation is returned. More...

math::Octree< icl32f, 16, 1, ICP3DVec > *	octree
	octree Underlying octree More...

std::vector< ICP3DVec >	m_target
	m_target Target for the ICP steps More...

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

Detailed Description

The ICP3D class is a special ICP-case for homogeneous 3D-vectors.

Member Typedef Documentation

◆ ICP3DVec

typedef icl::math::FixedColVector<icl32f,4> icl::geom::ICP3D::ICP3DVec

Constructor & Destructor Documentation

◆ ICP3D()

icl::geom::ICP3D::ICP3D	(	uint32_t const	iterations = `10`,
		icl32f const	max_distance = `1.0f`,
		icl64f const	errorDelat = `0.01f`
	)

ICP3D Standard constructor.

◆ ~ICP3D()

virtual icl::geom::ICP3D::~ICP3D ( )

virtual

Member Function Documentation

◆ apply() [1/3]

Result icl::geom::ICP3D::apply	(	std::vector< ICP3DVec > const &	source,
		std::vector< ICP3DVec > &	out
	)

apply Performs the ICP loop

Parameters

source	The points to be aligned to the target
out	The result of the alignment (transformed source)

Returns: The result for this ICP run (final transformation,error,iterations)

◆ apply() [2/3]

Result icl::geom::ICP3D::apply	(	std::vector< ICP3DVec > const &	target,
		std::vector< ICP3DVec > const &	source,
		std::vector< ICP3DVec > &	out,
		icl32f const &	min,
		icl32f const &	len
	)

apply Performs the ICP loop

Parameters

target	Target points for the ICP steps
source	The points to be aligned to the target
out	The result of the alignment (transformed source)
min	Octree minimum for all axis
len	Octree length for all axis

Returns: The result for this ICP run (final transformation,error,iterations)

◆ apply() [3/3]

Result icl::geom::ICP3D::apply	(	std::vector< ICP3DVec > const &	target,
		std::vector< ICP3DVec > const &	source,
		std::vector< ICP3DVec > &	out,
		icl32f const &	minX,
		icl32f const &	minY,
		icl32f const &	minZ,
		icl32f const &	width,
		icl32f const &	height,
		icl32f const &	depth
	)

apply Performs the ICP loop

Parameters

target	Target points for the ICP steps
source	The points to be aligned to the target
out	The result of the alignment (transformed source)
minX	Octree minimum for the x-axis
minY	Octree minimum for the y-axis
minZ	Octree minimum for the z-axis
width	Octree length for the x-axis
height	Octree length for the y-axis
depth	Octree length for the z-axis

Returns: The result for this ICP run (final transformation,error,iterations)

◆ build() [1/2]

void icl::geom::ICP3D::build	(	std::vector< ICP3DVec > const &	target,
		icl32f const &	min,
		icl32f const &	len
	)

build creates the octree and saves the target

Parameters

target	Target points for the ICP steps
min	Octree minimum for all axis
len	Octree length for all axis

◆ build() [2/2]

void icl::geom::ICP3D::build	(	std::vector< ICP3DVec > const &	target,
		icl32f const &	minX,
		icl32f const &	minY,
		icl32f const &	minZ,
		icl32f const &	width,
		icl32f const &	height,
		icl32f const &	depth
	)

build creates the octree and saves the target

Parameters

target	Target points for the ICP steps
minX	Octree minimum for the x-axis
minY	Octree minimum for the y-axis
minZ	Octree minimum for the z-axis
width	Octree length for the x-axis
height	Octree length for the y-axis
depth	Octree length for the z-axis

◆ getErrorDeltaTh()

icl64f icl::geom::ICP3D::getErrorDeltaTh ( )

inline

◆ getMaxDistance()

icl32f icl::geom::ICP3D::getMaxDistance ( )

inline

◆ getMaximumIterations()

uint32_t icl::geom::ICP3D::getMaximumIterations ( )

inline

◆ getTarget()

std::vector<ICP3DVec> const& icl::geom::ICP3D::getTarget ( )

inline

◆ setErrorDeltaTh()

void icl::geom::ICP3D::setErrorDeltaTh ( icl64f const th )

inline

◆ setMaxDistance()

void icl::geom::ICP3D::setMaxDistance ( icl32f const dist )

inline

◆ setMaximumIterations()

void icl::geom::ICP3D::setMaximumIterations ( uint32_t const iterations )

inline

Member Data Documentation

◆ errorDeltaTh

icl64f icl::geom::ICP3D::errorDeltaTh

errorDeltaTh Threshold for the change of the error between to ICP-steps. If the error changed less than this threshold the ICP-loop converged and the accumulated transformation is returned.

◆ m_target

std::vector<ICP3DVec> icl::geom::ICP3D::m_target

m_target Target for the ICP steps

◆ maxDist

icl32f icl::geom::ICP3D::maxDist

maxDist Maximal distance allowed between two corresponding points

◆ maxIterations

uint32_t icl::geom::ICP3D::maxIterations

maxIterations Maximum number of iterations

◆ octree

math::Octree<icl32f,16,1,ICP3DVec>* icl::geom::ICP3D::octree

octree Underlying octree

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/ICP3D.h

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ICP3DVec

Constructor & Destructor Documentation

◆ ICP3D()

◆ ~ICP3D()

Member Function Documentation

◆ apply() [1/3]

◆ apply() [2/3]

◆ apply() [3/3]

◆ build() [1/2]

◆ build() [2/2]

◆ getErrorDeltaTh()

◆ getMaxDistance()

◆ getMaximumIterations()

◆ getTarget()

◆ setErrorDeltaTh()

◆ setMaxDistance()

◆ setMaximumIterations()

Member Data Documentation

◆ errorDeltaTh

◆ m_target

◆ maxDist

◆ maxIterations

◆ octree