georegression.fitting.se

Class MotionSe2PointSVD_F64

java.lang.Object

georegression.fitting.se.MotionSe2PointSVD_F64

All Implemented Interfaces:

MotionTransformPoint<Se2_F64,Point2D_F64>

public class MotionSe2PointSVD_F64
extends java.lang.Object
implements MotionTransformPoint<Se2_F64,Point2D_F64>

Finds the rigid body motion which minimizes the different between the two sets of associated points in 2D. The rotation is computed from the SVD of a cross correlation matrix.

The mean square error function that is minimized is:
f(p) = (1/N) sum( i=1:N , ||x_i - R(theta)*p_i + T||² )
where theta is the angle of rotation and T is the translation, x is the set of 'to' points and p is the set of 'from' points.

Based upon the sketch of Arun et al. 1987 provided in: D.W. Eggert, A. Loruso, R.B. Fisher, "Estimating 3-D Rigid Body Transformation: A Comparison of Four Major Algorithms" Machine Vision and Applications 1997

Constructor Summary

Constructors

Constructor and Description
MotionSe2PointSVD_F64()

Method Summary

Modifier and Type	Method and Description
int	getMinimumPoints() Minimum number of points required to compute a model.
Se2_F64	getTransformSrcToDst() Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.
boolean	process(java.util.List<Point2D_F64> srcPts, java.util.List<Point2D_F64> dstPts) Processes the sets of corresponding points and finds a transformation which when applied to 'srcPts' will minimize the difference with the 'dstPts'.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MotionSe2PointSVD_F64

public MotionSe2PointSVD_F64()

Method Detail

getTransformSrcToDst

public Se2_F64 getTransformSrcToDst()

Description copied from interface: MotionTransformPoint

Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.

Specified by:

getTransformSrcToDst in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Returns:

motion

process

public boolean process(java.util.List<Point2D_F64> srcPts,
                       java.util.List<Point2D_F64> dstPts)

Description copied from interface: MotionTransformPoint

Processes the sets of corresponding points and finds a transformation which when applied to 'srcPts' will minimize the difference with the 'dstPts'.

Specified by:

process in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Parameters:

srcPts - The points which are to be transformed. Not modified.

dstPts - The points that are being compared against. Not modified.

Returns:

true if the computation successfully produced a solution and false if not.

getMinimumPoints

public int getMinimumPoints()

Description copied from interface: MotionTransformPoint

Minimum number of points required to compute a model.

Specified by:

getMinimumPoints in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Returns:

The number of points required to compute a model.