Package georegression.fitting.points

Class MatchCloudToCloudIcp<SE extends InvertibleTransform,P extends GeoTuple>

java.lang.Object

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

All Implemented Interfaces:

MatchCloudToCloud<SE,P>

Direct Known Subclasses:

FactoryIterativeClosestPoint.SE2_F32, FactoryIterativeClosestPoint.SE2_F64, FactoryIterativeClosestPoint.SE3_F32, FactoryIterativeClosestPoint.SE3_F64

public abstract class MatchCloudToCloudIcp<SE extends InvertibleTransform,P extends GeoTuple>
extends Object
implements MatchCloudToCloud<SE,P>

Abstract implementation of ICP for point cloud fitting using an arbitrary transform.

See Also:

• IterativeClosestPoint

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	MatchCloudToCloudIcp(MotionTransformPoint<SE,P> motion, NearestNeighbor<P> nn, IterativeClosestPoint.Distance<P> distance, double maxDistanceSq, StoppingCondition stop)	Configures ICP

Method Summary

Modifier and Type	Method	Description
boolean	compute()	Computes the transform between the two point clouds.
IterativeClosestPoint<SE,P>	getIcp()
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<P> destination)	Sets the destination point cloud.
void	setSource(List<P> source)	Provides the list of source points.

Methods inherited from class java.lang.Object

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

Constructor Details

MatchCloudToCloudIcp

protected MatchCloudToCloudIcp(MotionTransformPoint<SE,P> motion,
 NearestNeighbor<P> nn,
 IterativeClosestPoint.Distance<P> distance,
 double maxDistanceSq,
 StoppingCondition stop)

Configures ICP

Parameters:

motion - estimates motion between two sets of associated points

nn - Nearest-Neighbor search

maxDistanceSq - Maximum distance between two paired points. Euclidean squared

stop - Stopping criteria for ICP iterations

Method Details

setSource

public void setSource(List<P> source)

Description copied from interface: MatchCloudToCloud

Provides the list of source points.

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

Specified by:

setSource in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Parameters:

source - Point cloud. Call MatchCloudToCloud.isModifiedSource() to see if the list is modified.

setDestination

public void setDestination(List<P> destination)

Description copied from interface: MatchCloudToCloud

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.

Specified by:

setDestination in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Parameters:

destination - Point cloud. Not modified.

compute

public boolean compute()

Description copied from interface: MatchCloudToCloud

Computes the transform between the two point clouds. Returns if it was successful or not.

Specified by:

compute in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Returns:

True if match between the two point clouds could be found. False otherwise

getSourceToDestination

public SE getSourceToDestination()

Description copied from interface: MatchCloudToCloud

Returns the found transform from source to destination. Must call MatchCloudToCloud.compute() first.

Specified by:

getSourceToDestination in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Returns:

transform

isModifiedSource

public boolean isModifiedSource()

Description copied from interface: MatchCloudToCloud

If true then the input list to source is modified.

Specified by:

isModifiedSource in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Returns:

true if source list is modified, false if not modified

getMatchedSourcePoints

public int getMatchedSourcePoints()

Description copied from interface: MatchCloudToCloud

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.

Specified by:

getMatchedSourcePoints in interface MatchCloudToCloud<SE extends InvertibleTransform,P extends GeoTuple>

Returns:

Number of matched points.

getIcp

public IterativeClosestPoint<SE,P> getIcp()