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RobWorkProject
23.9.11-
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#include <PointPairsRegistration.hpp>
Public Types | |
typedef std::pair< rw::math::Vector3D<>, rw::math::Vector3D<> > | PointPair |
Static Public Member Functions | |
static rw::math::Transform3D | pointPairRegistrationSVD (const std::vector< PointPair > &pointPairs) |
Perform registration of point pairs using SVD based method. More... | |
static rw::math::Transform3D | pointPairRegistrationQuaternion (const std::vector< PointPair > &pointPairs) |
Perform registration of point pairs using Quaternion based method. More... | |
Computes the transform minimizing: \(sum_i(|T*p_i-p'_i|^2)\), where \(p_i\) and \(p'_i\) is a pair of points corresponding to the same point in real world.
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Perform registration of point pairs using Quaternion based method.
At least three points are required for a registration
The method implemented is Besl, P. J. Et al.: A Method for Registration of 3-D Shapes. PAMI, 14(2):239-256, 1992.
pointPairs | [in] Point pairs p_i and p'_i to register. |
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Perform registration of point pairs using SVD based method.
At least three points are required for a registration
The implemented method is described here: http://nghiaho.com/?page_id=671 . The implementation includes a step to take into account if the rotation contains a relection rather than a pure rotation.
pointPairs | [in] Point pairs p_i and p'_i to register. |