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MR.PointToPlaneAligningTransform Class Reference

This class and its main method can be used to solve the problem of 3D shape alignment. This algorithm uses a point-to-plane error metric in which the object of minimization is the sum of the squared distance between a point and the tangent plane at its correspondence point. To use this technique it's need to have small rotation angles. So there is an approximate solution. The result of this algorithm is the transformation of first points (p1) which aligns it to the second ones (p2). Generated from class MR.PointToPlaneAligningTransform. This is the non-const half of the class. More...

Inheritance diagram for MR.PointToPlaneAligningTransform:

Public Member Functions

unsafe PointToPlaneAligningTransform ()
 Constructs an empty (default-constructed) instance.
unsafe PointToPlaneAligningTransform (MR.Const_PointToPlaneAligningTransform _other)
 Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.
 PointToPlaneAligningTransform (PointToPlaneAligningTransform _other)
 Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.
unsafe MR.PointToPlaneAligningTransform assign (MR.Const_PointToPlaneAligningTransform _other)
 Generated from method MR::PointToPlaneAligningTransform::operator=.
unsafe void add (in MR.Vector3d p1, in MR.Vector3d p2, in MR.Vector3d normal2, double? w=null)
 Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from method MR.PointToPlaneAligningTransform.add. Parameter w defaults to 1.
unsafe void add (in MR.Vector3f p1, in MR.Vector3f p2, in MR.Vector3f normal2, float? w=null)
 Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from method MR.PointToPlaneAligningTransform.add. Parameter w defaults to 1.
unsafe void prepare ()
 this method must be called after add() and before constant find...()/calculate...() to make the matrix symmetric Generated from method MR.PointToPlaneAligningTransform.prepare.
unsafe void clear ()
 Clear points and normals data Generated from method MR.PointToPlaneAligningTransform.clear.
Public Member Functions inherited from MR.Const_PointToPlaneAligningTransform
virtual void Dispose ()
unsafe Const_PointToPlaneAligningTransform ()
 Constructs an empty (default-constructed) instance.
unsafe Const_PointToPlaneAligningTransform (MR.Const_PointToPlaneAligningTransform _other)
 Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.
 Const_PointToPlaneAligningTransform (PointToPlaneAligningTransform _other)
 Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.
unsafe MR.AffineXf3d findBestRigidXf ()
 Compute transformation as the solution to a least squares optimization problem: xf( p1_i ) = p2_i this version searches for best rigid body transformation Generated from method MR.PointToPlaneAligningTransform.findBestRigidXf.
unsafe MR.AffineXf3d findBestRigidScaleXf ()
 this version searches for best rigid body transformation with uniform scaling Generated from method MR.PointToPlaneAligningTransform.findBestRigidScaleXf.
unsafe MR.AffineXf3d findBestRigidXfFixedRotationAxis (in MR.Vector3d axis)
 this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation Generated from method MR.PointToPlaneAligningTransform.findBestRigidXfFixedRotationAxis.
unsafe MR.AffineXf3d findBestRigidXfOrthogonalRotationAxis (in MR.Vector3d ort)
 this version searches for best transformation where rotation is allowed only around axes orthogonal to given one Generated from method MR.PointToPlaneAligningTransform.findBestRigidXfOrthogonalRotationAxis.
unsafe MR.Vector3d findBestTranslation (MR._InOpt_Vector3d rotAngles=default, double? scale=null)
 this version searches for best translational part of affine transformation with given linear part Generated from method MR.PointToPlaneAligningTransform.findBestTranslation. Parameter rotAngles defaults to {}. Parameter scale defaults to 1.
unsafe MR.RigidScaleXf3d calculateAmendment ()
 Compute transformation relative to given approximation and return it as angles and shift (scale = 1) Generated from method MR.PointToPlaneAligningTransform.calculateAmendment.
unsafe MR.RigidScaleXf3d calculateAmendmentWithScale ()
 Compute transformation relative to given approximation and return it as scale, angles and shift Generated from method MR.PointToPlaneAligningTransform.calculateAmendmentWithScale.
unsafe MR.RigidScaleXf3d calculateFixedAxisAmendment (in MR.Vector3d axis)
 this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation Generated from method MR.PointToPlaneAligningTransform.calculateFixedAxisAmendment.
unsafe MR.RigidScaleXf3d calculateOrthogonalAxisAmendment (in MR.Vector3d ort)
 this version searches for best transformation where rotation is allowed only around axes orthogonal to given one Generated from method MR.PointToPlaneAligningTransform.calculateOrthogonalAxisAmendment.

Additional Inherited Members

Protected Member Functions inherited from MR.Const_PointToPlaneAligningTransform
virtual unsafe void Dispose (bool disposing)

Detailed Description

This class and its main method can be used to solve the problem of 3D shape alignment. This algorithm uses a point-to-plane error metric in which the object of minimization is the sum of the squared distance between a point and the tangent plane at its correspondence point. To use this technique it's need to have small rotation angles. So there is an approximate solution. The result of this algorithm is the transformation of first points (p1) which aligns it to the second ones (p2). Generated from class MR.PointToPlaneAligningTransform. This is the non-const half of the class.

Constructor & Destructor Documentation

◆ PointToPlaneAligningTransform() [1/3]

unsafe MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform ( )
inline

Constructs an empty (default-constructed) instance.

◆ PointToPlaneAligningTransform() [2/3]

unsafe MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform ( MR.Const_PointToPlaneAligningTransform _other)
inline

Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.

◆ PointToPlaneAligningTransform() [3/3]

MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform ( PointToPlaneAligningTransform _other)
inline

Generated from constructor MR.PointToPlaneAligningTransform.PointToPlaneAligningTransform.

Member Function Documentation

◆ add() [1/2]

unsafe void MR.PointToPlaneAligningTransform.add ( in MR.Vector3d p1,
in MR.Vector3d p2,
in MR.Vector3d normal2,
double? w = null )
inline

Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from method MR.PointToPlaneAligningTransform.add. Parameter w defaults to 1.

◆ add() [2/2]

unsafe void MR.PointToPlaneAligningTransform.add ( in MR.Vector3f p1,
in MR.Vector3f p2,
in MR.Vector3f normal2,
float? w = null )
inline

Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from method MR.PointToPlaneAligningTransform.add. Parameter w defaults to 1.

◆ assign()

unsafe MR.PointToPlaneAligningTransform MR.PointToPlaneAligningTransform.assign ( MR.Const_PointToPlaneAligningTransform _other)
inline

Generated from method MR::PointToPlaneAligningTransform::operator=.

◆ clear()

unsafe void MR.PointToPlaneAligningTransform.clear ( )
inline

Clear points and normals data Generated from method MR.PointToPlaneAligningTransform.clear.

◆ prepare()

unsafe void MR.PointToPlaneAligningTransform.prepare ( )
inline

this method must be called after add() and before constant find...()/calculate...() to make the matrix symmetric Generated from method MR.PointToPlaneAligningTransform.prepare.

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