Package georegression.fitting.points

Interface MatchCloudToCloud<SE extends InvertibleTransform,T extends GeoTuple>

All Known Implementing Classes:
FactoryIterativeClosestPoint.SE2_F32, FactoryIterativeClosestPoint.SE2_F64, FactoryIterativeClosestPoint.SE3_F32, FactoryIterativeClosestPoint.SE3_F64, MatchCloudToCloudIcp
public interface MatchCloudToCloud<SE extends InvertibleTransform,T extends GeoTuple>
Generalized interface for finding the transform which minimizes the difference between two point clouds. A point cloud is a set of points.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    compute()
    Computes the transform between the two point clouds.
    int
    getMatchedSourcePoints()
    Returns the number of points from the source list which were matched to to points in the destination list.
    SE
    getSourceToDestination()
    Returns the found transform from source to destination.
    boolean
    isModifiedSource()
    If true then the input list to source is modified.
    void
    setDestination(List<T> points)
    Sets the destination point cloud.
    void
    setSource(List<T> points)
    Provides the list of source points.

  • Method Details

    • setSource

      void setSource(List<T> points)
      Provides the list of source points.

      WARNING: Do not modify the passed in list until after processing has finished.

      Parameters:
      points - Point cloud. Call isModifiedSource() to see if the list is modified.

    • setDestination

      void setDestination(List<T> points)
      Sets the destination point cloud. In algorithms which involve a costly processing step on one of the point clouds, this is the point cloud it should be done on.

      WARNING: Do not modify the passed in list until after processing has finished.

      Parameters:
      points - Point cloud. Not modified.

    • compute

      boolean compute()
      Computes the transform between the two point clouds. Returns if it was successful or not.
      Returns:
      True if match between the two point clouds could be found. False otherwise

    • getSourceToDestination

      SE getSourceToDestination()
      Returns the found transform from source to destination. Must call compute() first.
      Returns:
      transform

    • isModifiedSource

      boolean isModifiedSource()
      If true then the input list to source is modified.
      Returns:
      true if source list is modified, false if not modified

    • getMatchedSourcePoints

      int getMatchedSourcePoints()
      Returns the number of points from the source list which were matched to to points in the destination list. Depending on the algorithm this may or may not be a good measure fit goodness.
      Returns:
      Number of matched points.