MR::PointToPointAligningTransform Class Reference

#include <MRMesh/MRPointToPointAligningTransform.h>

Public Member Functions
void	add (const Vector3d &p1, const Vector3d &p2, double w=1)
	Add one pair of points in the set.
void	add (const Vector3f &p1, const Vector3f &p2, float w=1)
	Add one pair of points in the set.
void	add (const PointToPointAligningTransform &other)
	Add another two sets of points.
void	clear ()
	Clear sets.
Vector3d	centroid1 () const
	returns weighted centroid of points p1 accumulated so far
Vector3d	centroid2 () const
	returns weighted centroid of points p2 accumulated so far
double	totalWeight () const
	returns summed weight of points accumulated so far
AffineXf3d	findBestRigidXf () const
AffineXf3d	findBestRigidScaleXf () const
	this version searches for best rigid body transformation with uniform scaling
AffineXf3d	findBestRigidXfFixedRotationAxis (const Vector3d &axis) const
	this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation
AffineXf3d	findBestRigidXfOrthogonalRotationAxis (const Vector3d &ort) const
	this version searches for best transformation where rotation is allowed only around axes orthogonal to given one
Vector3d	findBestTranslation () const
	Simplified solution for translational part only.

Detailed Description

This class and its main method can be used to solve the problem well-known as the absolute orientation problem. It means computing the transformation that aligns two sets of points for which correspondence is known.

Member Function Documentation

add() [1/3]

void MR::PointToPointAligningTransform::add

(

const PointToPointAligningTransform &

other

)

Add another two sets of points.

add() [2/3]

void MR::PointToPointAligningTransform::add	(	const Vector3d &	p1,
		const Vector3d &	p2,
		double	w = 1 )

Add one pair of points in the set.

add() [3/3]

void MR::PointToPointAligningTransform::add ( const Vector3f & p1, const Vector3f & p2, float w = 1 )

inline

Add one pair of points in the set.

centroid1()

Vector3d MR::PointToPointAligningTransform::centroid1 ( ) const

inlinenodiscard

returns weighted centroid of points p1 accumulated so far

centroid2()

Vector3d MR::PointToPointAligningTransform::centroid2 ( ) const

inlinenodiscard

returns weighted centroid of points p2 accumulated so far

clear()

void MR::PointToPointAligningTransform::clear ( )

inline

Clear sets.

findBestRigidScaleXf()

AffineXf3d MR::PointToPointAligningTransform::findBestRigidScaleXf ( ) const

nodiscard

this version searches for best rigid body transformation with uniform scaling

findBestRigidXf()

AffineXf3d MR::PointToPointAligningTransform::findBestRigidXf ( ) const

nodiscard

Compute transformation as the solution to a least squares formulation of the problem: xf( p1_i ) = p2_i this version searches for best rigid body transformation

findBestRigidXfFixedRotationAxis()

AffineXf3d MR::PointToPointAligningTransform::findBestRigidXfFixedRotationAxis ( const Vector3d & axis ) const

nodiscard

this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation

findBestRigidXfOrthogonalRotationAxis()

AffineXf3d MR::PointToPointAligningTransform::findBestRigidXfOrthogonalRotationAxis ( const Vector3d & ort ) const

nodiscard

this version searches for best transformation where rotation is allowed only around axes orthogonal to given one

findBestTranslation()

Vector3d MR::PointToPointAligningTransform::findBestTranslation ( ) const

nodiscard

Simplified solution for translational part only.

totalWeight()

double MR::PointToPointAligningTransform::totalWeight ( ) const

inlinenodiscard

returns summed weight of points accumulated so far

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

• MRMesh/MRPointToPointAligningTransform.h