icl::geom::SQFitter Class Reference

#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. More...

Public Member Functions
	SQFitter (icl::utils::SmartPtr< Vec > camCenter=utils::SmartPtr< Vec >())
	Constructor. More...
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 More...
const SQParams &	getParams () const
	returns the last calculated parameters More...
void	setCameraCenter (const Vec &c)
	changes the camera center More...

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 More...
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 More...
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 More...

Private Attributes
SQFitter::shapeError	sError
	structure containing an error function More...
SQFitter::eulerPosError	ePError
	structure containing an error function More...
LM::FunctionMat	sErrorFunc
	error function for the shape More...
LM::FunctionMat	ePErrorFunc
	error function for the euler angles and the position More...
LM	shapeLM
	Levenberg-Marquardt for the shape. More...
LM	eulerPosLM
	Levenberg-Marquardt for the euler angles and the position. More...
SQParams	params
	last solution More...
icl::utils::SmartPtr< Vec >	camCenter
	camera center More...

Member Typedef Documentation

LM

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

Levenberg-Marquardt.

Constructor & Destructor Documentation

SQFitter()

icl::geom::SQFitter::SQFitter

(

icl::utils::SmartPtr< Vec >

camCenter = utils::SmartPtr< Vec >()

)

Constructor.

Member Function Documentation

fit()

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

fitShape()

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

fitSQ()

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

getParams()

const SQParams& icl::geom::SQFitter::getParams ( ) const

inline

returns the last calculated parameters

preProcess()

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

internal function, that prepares some data for fitting of superquadrics

setCameraCenter()

void icl::geom::SQFitter::setCameraCenter

(

const Vec &

c

)

changes the camera center

Member Data Documentation

camCenter

icl::utils::SmartPtr<Vec> icl::geom::SQFitter::camCenter

private

camera center

ePError

SQFitter::eulerPosError icl::geom::SQFitter::ePError

private

structure containing an error function

ePErrorFunc

LM::FunctionMat icl::geom::SQFitter::ePErrorFunc

private

error function for the euler angles and the position

eulerPosLM

LM icl::geom::SQFitter::eulerPosLM

private

Levenberg-Marquardt for the euler angles and the position.

params

SQParams icl::geom::SQFitter::params

private

last solution

sError

SQFitter::shapeError icl::geom::SQFitter::sError

private

structure containing an error function

sErrorFunc

LM::FunctionMat icl::geom::SQFitter::sErrorFunc

private

error function for the shape

shapeLM

LM icl::geom::SQFitter::shapeLM

private

Levenberg-Marquardt for the shape.

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

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