Package georegression.fitting.se

Class MotionSe2PointSVD_F64

java.lang.Object

georegression.fitting.se.MotionSe2PointSVD_F64

All Implemented Interfaces:

MotionTransformPoint<Se2_F64,Point2D_F64>

public class MotionSe2PointSVD_F64
extends Object
implements MotionTransformPoint<Se2_F64,Point2D_F64>

Finds the rigid body motion which minimizes the different between the two sets of associated points in 2D. The rotation is computed from the SVD of a cross correlation matrix.

The mean square error function that is minimized is:
f(p) = (1/N) sum( i=1:N , ||x_i - R(theta)*p_i + T||² )
where theta is the angle of rotation and T is the translation, x is the set of 'to' points and p is the set of 'from' points.

Based upon the sketch of Arun et al. 1987 provided in: D.W. Eggert, A. Loruso, R.B. Fisher, "Estimating 3-D Rigid Body Transformation: A Comparison of Four Major Algorithms" Machine Vision and Applications 1997

Constructor Summary

Constructors

Constructor	Description
MotionSe2PointSVD_F64()

Method Summary

Modifier and Type	Method	Description
int	getMinimumPoints()	Minimum number of points required to compute a model.
Se2_F64	getTransformSrcToDst()	Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.
boolean	process(List<Point2D_F64> srcPts, List<Point2D_F64> dstPts)	Processes the sets of corresponding points and finds a transformation which when applied to 'srcPts' will minimize the difference with the 'dstPts'.

Methods inherited from class java.lang.Object

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

Constructor Details

MotionSe2PointSVD_F64

public MotionSe2PointSVD_F64()

Method Details

getTransformSrcToDst

public Se2_F64 getTransformSrcToDst()

Description copied from interface: MotionTransformPoint

Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.

Specified by:

getTransformSrcToDst in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Returns:

motion

process

public boolean process(List<Point2D_F64> srcPts,
 List<Point2D_F64> dstPts)

Description copied from interface: MotionTransformPoint

Processes the sets of corresponding points and finds a transformation which when applied to 'srcPts' will minimize the difference with the 'dstPts'.

Specified by:

process in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Parameters:

srcPts - The points which are to be transformed. Not modified.

dstPts - The points that are being compared against. Not modified.

Returns:

true if the computation successfully produced a solution and false if not.

getMinimumPoints

public int getMinimumPoints()

Description copied from interface: MotionTransformPoint

Minimum number of points required to compute a model.

Specified by:

getMinimumPoints in interface MotionTransformPoint<Se2_F64,Point2D_F64>

Returns:

The number of points required to compute a model.