georegression.fitting.se

Class MotionSe3PointCrossCovariance_F32

java.lang.Object

georegression.fitting.se.MotionSe3PointCrossCovariance_F32

All Implemented Interfaces:

MotionTransformPoint<Se3_F32,Point3D_F32>

public class MotionSe3PointCrossCovariance_F32
extends java.lang.Object
implements MotionTransformPoint<Se3_F32,Point3D_F32>

Finds the rigid body motion which minimizes the different between the two sets of associated points in 3D. Computes the quaternions directly in closed form.

The mean square error function that is minimized is:
f(q) = (1/N) sum( i=1:N , ||x_i - R(q_r)*p_i + q_t||² )
where q is the transformation parameterized with q_r quaternions and q_t translation, x is the set of 'to' points and p is the set of 'from' points.

The basic cross-covariance method sketch in Paul J. Besl and Neil D. McKay, "A Method for Registration of 3-D Shapes" IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol 14, No. 2, Feb. 1992, is implemented below.

Constructor Summary

Constructors

Constructor and Description
MotionSe3PointCrossCovariance_F32()

Method Summary

Modifier and Type	Method and Description
int	getMinimumPoints() Minimum number of points required to compute a model.
float[]	getParam()
Se3_F32	getTransformSrcToDst() Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.
boolean	process(java.util.List<Point3D_F32> srcPts, java.util.List<Point3D_F32> 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

MotionSe3PointCrossCovariance_F32

public MotionSe3PointCrossCovariance_F32()

Method Detail

getParam

public float[] getParam()

getTransformSrcToDst

public Se3_F32 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<Se3_F32,Point3D_F32>

Returns:

motion

process

public boolean process(java.util.List<Point3D_F32> srcPts,
                       java.util.List<Point3D_F32> 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<Se3_F32,Point3D_F32>

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<Se3_F32,Point3D_F32>

Returns:

The number of points required to compute a model.