Package georegression.fitting.se

Class MotionSe3PointSVD_F64

java.lang.Object

georegression.fitting.se.MotionSe3PointSVD_F64

All Implemented Interfaces:

MotionTransformPoint<Se3_F64,Point3D_F64>

public class MotionSe3PointSVD_F64
extends Object
implements MotionTransformPoint<Se3_F64,Point3D_F64>

Finds the rigid body motion which minimizes the different between the two sets of associated points in 3D. Computes the SVD of the covariance and extracts the motion from the mean of the two sets of points and the U and V components of SVD.

No paper to cite. If anyone has one let me know.

Constructor Summary

Constructors

Constructor	Description
MotionSe3PointSVD_F64()

Method Summary

Modifier and Type	Method	Description
int	getMinimumPoints()	Minimum number of points required to compute a model.
Se3_F64	getTransformSrcToDst()	Returns the estimated motion from the 'from' coordinate system into the 'to' coordinate system.
boolean	process(List<Point3D_F64> srcPts, List<Point3D_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

MotionSe3PointSVD_F64

public MotionSe3PointSVD_F64()

Method Details

getTransformSrcToDst

public Se3_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<Se3_F64,Point3D_F64>

Returns:

motion

process

public boolean process(List<Point3D_F64> srcPts,
 List<Point3D_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<Se3_F64,Point3D_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<Se3_F64,Point3D_F64>

Returns:

The number of points required to compute a model.