Package georegression.fitting.points

Class IterativeClosestPoint<SE extends InvertibleTransform,P extends GeoTuple>

java.lang.Object

georegression.fitting.points.IterativeClosestPoint<SE,P>

public class IterativeClosestPoint<SE extends InvertibleTransform,P extends GeoTuple>
extends Object

A straight forward implementation of the Iterative Closest Point (ICP) algorithm for 2D or 3D objects. ICP works by finding a locally optimal rigid body transform that minimizes the error between a set of points and a model. The model can be described in several different formats and is implement as an interface ClosestPointToModel.

While this implementation is primarily designed for simplicity, generic, and correctness, its performance will be primarily determined by the efficiency of the ClosestPointToModel provided to it. This is especially true for complex models with large number of points.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	IterativeClosestPoint.Distance<P>

Constructor Summary

Constructors

Constructor	Description
IterativeClosestPoint(StoppingCondition stop, MotionTransformPoint<SE,P> motion, IterativeClosestPoint.Distance<P> distance)

Method Summary

Modifier and Type	Method	Description
double	getFoundError()	Mean square error between the model and the set of points after the optimal transformation has been found
SE	getPointsToModel()	Found rigid body transformation from model to points.
int	getTotalMatched()
boolean	process(List<P> points)	Computes the best fit transform
void	setModel(ClosestPointToModel model)	The model that the input points is being fitted against.

Methods inherited from class java.lang.Object

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

Constructor Details

IterativeClosestPoint

public IterativeClosestPoint(StoppingCondition stop,
 MotionTransformPoint<SE,P> motion,
 IterativeClosestPoint.Distance<P> distance)

Method Details

getFoundError

public double getFoundError()

Mean square error between the model and the set of points after the optimal transformation has been found

getPointsToModel

public SE getPointsToModel()

Found rigid body transformation from model to points.

setModel

public void setModel(ClosestPointToModel model)

The model that the input points is being fitted against.

process

public boolean process(List<P> points)

Computes the best fit transform

Parameters:

points - Points which are to matched to a model. Their state is modified to the optimal fit location.

getTotalMatched

public int getTotalMatched()