meshlib.mrmeshpy.PointToPlaneAligningTransform Class Reference

Public Member Functions
None	__init__ (self)
None	__init__ (self, PointToPlaneAligningTransform arg0)
None	add (self, Vector3d p1, Vector3d p2, Vector3d normal2, float w=1)
None	add (self, Vector3f p1, Vector3f p2, Vector3f normal2, float w=1)
RigidScaleXf3d	calculateAmendment (self)
RigidScaleXf3d	calculateAmendmentWithScale (self)
RigidScaleXf3d	calculateFixedAxisAmendment (self, Vector3d axis)
RigidScaleXf3d	calculateOrthogonalAxisAmendment (self, Vector3d ort)
None	clear (self)
AffineXf3d	findBestRigidScaleXf (self)
AffineXf3d	findBestRigidXf (self)
AffineXf3d	findBestRigidXfFixedRotationAxis (self, Vector3d axis)
AffineXf3d	findBestRigidXfOrthogonalRotationAxis (self, Vector3d ort)
Vector3d	findBestTranslation (self, Vector3d rotAngles='MR::Vector3d{}', float scale=1)
None	prepare (self)

Detailed Description

Generated from:  MR::PointToPlaneAligningTransform

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).

Constructor & Destructor Documentation

__init__() [1/2]

None meshlib.mrmeshpy.PointToPlaneAligningTransform.__init__

(

self

)

Implicit default constructor.

__init__() [2/2]

None meshlib.mrmeshpy.PointToPlaneAligningTransform.__init__	(		self,
		PointToPlaneAligningTransform	arg0 )

Implicit copy constructor.

Member Function Documentation

add() [1/2]

None meshlib.mrmeshpy.PointToPlaneAligningTransform.add	(		self,
		Vector3d	p1,
		Vector3d	p2,
		Vector3d	normal2,
		float	w = 1 )

Add a pair of corresponding points and the normal of the tangent plane at the second point

add() [2/2]

None meshlib.mrmeshpy.PointToPlaneAligningTransform.add	(		self,
		Vector3f	p1,
		Vector3f	p2,
		Vector3f	normal2,
		float	w = 1 )

Add a pair of corresponding points and the normal of the tangent plane at the second point

calculateAmendment()

RigidScaleXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.calculateAmendment

(

self

)

Compute transformation relative to given approximation and return it as angles and shift (scale = 1)

calculateAmendmentWithScale()

RigidScaleXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.calculateAmendmentWithScale

(

self

)

Compute transformation relative to given approximation and return it as scale, angles and shift

calculateFixedAxisAmendment()

RigidScaleXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.calculateFixedAxisAmendment	(		self,
		Vector3d	axis )

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

calculateOrthogonalAxisAmendment()

RigidScaleXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.calculateOrthogonalAxisAmendment	(		self,
		Vector3d	ort )

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

clear()

None meshlib.mrmeshpy.PointToPlaneAligningTransform.clear

(

self

)

Clear points and normals data

findBestRigidScaleXf()

AffineXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.findBestRigidScaleXf

(

self

)

this version searches for best rigid body transformation with uniform scaling

findBestRigidXf()

AffineXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.findBestRigidXf

(

self

)

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

findBestRigidXfFixedRotationAxis()

AffineXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.findBestRigidXfFixedRotationAxis	(		self,
		Vector3d	axis )

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

findBestRigidXfOrthogonalRotationAxis()

AffineXf3d meshlib.mrmeshpy.PointToPlaneAligningTransform.findBestRigidXfOrthogonalRotationAxis	(		self,
		Vector3d	ort )

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

findBestTranslation()

Vector3d meshlib.mrmeshpy.PointToPlaneAligningTransform.findBestTranslation	(		self,
		Vector3d	rotAngles = 'MR::Vector3d{}',
		float	scale = 1 )

this version searches for best translational part of affine transformation with given linear part

prepare()

None meshlib.mrmeshpy.PointToPlaneAligningTransform.prepare

(

self

)

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

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

• mrmeshpy.pyi