The namespace for the point-cloud alignment methods. More...

Functions
transformation_t	threept_arun (const PointCloudAdapterBase &adapter)
	Compute the transformation between two frames containing point clouds, following Arun's method [13]. Using all available correspondences. More...

transformation_t	threept_arun (const PointCloudAdapterBase &adapter, const std::vector< int > &indices)
	Compute the transformation between two frames containing point clouds, following Arun's method [13]. More...

transformation_t	optimize_nonlinear (PointCloudAdapterBase &adapter)
	Compute the transformation between two frames containing point clouds using nonlinear optimization. Using all available correspondences. More...

transformation_t	optimize_nonlinear (PointCloudAdapterBase &adapter, const std::vector< int > &indices)
	Compute the transformation between two frames containing point clouds. Using nonlinear optimization. More...

Detailed Description

The namespace for the point-cloud alignment methods.

Function Documentation

transformation_t opengv::point_cloud::optimize_nonlinear ( PointCloudAdapterBase & adapter )

Compute the transformation between two frames containing point clouds using nonlinear optimization. Using all available correspondences.

Parameters

[in] adapter Visitor holding world-point correspondences, plus the initial values.

Returns: Transformation from frame 2 back to frame 1 ( $\mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right)$ , with $\mathbf{t}$ being the position of frame 2 seen from frame 1, and $\mathbf{R}$ being the rotation from frame 2 to frame 1).

transformation_t opengv::point_cloud::optimize_nonlinear	(	PointCloudAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the transformation between two frames containing point clouds. Using nonlinear optimization.

Parameters

[in]	adapter	Visitor holding world-point correspondences, plus the initial values.
[in]	indices	Indices of the correspondences used for optimization.

Returns: Transformation from frame 2 back to frame 1 ( $\mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right)$ , with $\mathbf{t}$ being the position of frame 2 seen from frame 1, and $\mathbf{R}$ being the rotation from frame 2 to frame 1).

transformation_t opengv::point_cloud::threept_arun ( const PointCloudAdapterBase & adapter )

Compute the transformation between two frames containing point clouds, following Arun's method [13]. Using all available correspondences.

Parameters

[in] adapter Visitor holding world-point correspondences.

Returns: Transformation from frame 2 back to frame 1 ( $\mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right)$ , with $\mathbf{t}$ being the position of frame 2 seen from frame 1, and $\mathbf{R}$ being the rotation from frame 2 to frame 1).

transformation_t opengv::point_cloud::threept_arun	(	const PointCloudAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the transformation between two frames containing point clouds, following Arun's method [13].

Parameters

[in]	adapter	Visitor holding world-point correspondences.
[in]	indices	Indices of the correspondences used for deriving the transformation.

Returns: Transformation from frame 2 back to frame 1 ( $\mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right)$ , with $\mathbf{t}$ being the position of frame 2 seen from frame 1, and $\mathbf{R}$ being the rotation from frame 2 to frame 1).