georegression.fitting.se

Class MotionSe3PointCrossCovariance_F64

java.lang.Object

georegression.fitting.se.MotionSe3PointCrossCovariance_F64

All Implemented Interfaces:

georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64>

public class MotionSe3PointCrossCovariance_F64
extends java.lang.Object
implements georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64>

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_F64()

Method Summary

Modifier and Type	Method and Description
int	getMinimumPoints()
double[]	getParam()
georegression.struct.se.Se3_F64	getTransformSrcToDst()
boolean	process(java.util.List<georegression.struct.point.Point3D_F64> srcPts, java.util.List<georegression.struct.point.Point3D_F64> dstPts)

Methods inherited from class java.lang.Object

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

Constructor Detail

MotionSe3PointCrossCovariance_F64

public MotionSe3PointCrossCovariance_F64()

Method Detail

getParam

public double[] getParam()

getTransformSrcToDst

public georegression.struct.se.Se3_F64 getTransformSrcToDst()

Specified by:

getTransformSrcToDst in interface georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64>

process

public boolean process(java.util.List<georegression.struct.point.Point3D_F64> srcPts,
                       java.util.List<georegression.struct.point.Point3D_F64> dstPts)

Specified by:

process in interface georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64>

getMinimumPoints

public int getMinimumPoints()

Specified by:

getMinimumPoints in interface georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64>