CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T > Class Template Reference

Convenience wrapper around Math::KabschAlgorithm that operates directly on Math::VectorArray inputs. More...

#include <VectorArrayAlignmentCalculator.hpp>

Inheritance diagram for CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >:

Public Types
typedef VA	VectorArrayType
	The vector-array type. More...
typedef V	VectorType
	The vector element type of VectorArrayType. More...
typedef T	ValueType
	The scalar value type. More...
typedef KabschAlgorithm< ValueType >::MatrixType	MatrixType
	The matrix type used for the computed transformation. More...

Public Member Functions
template<typename VE >
bool	calculate (const VectorArrayType &points, const VectorArrayType &ref_points, const VectorExpression< VE > &weights, bool do_center=true, std::size_t max_svd_iter=0)
	Aligns points onto ref_points (with per-point weights) using the Kabsch algorithm. More...
bool	calculate (const VectorArrayType &points, const VectorArrayType &ref_points, bool do_center=true, std::size_t max_svd_iter=0)
	Aligns points onto ref_points (with uniform weights) using the Kabsch algorithm. More...
const MatrixType &	getTransform () const
	Returns the rigid-body transformation produced by the most recent successful calculate() call. More...

Detailed Description

template<typename VA, typename V = typename VA::ElementType, typename T = typename V::ValueType>
class CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >

Convenience wrapper around Math::KabschAlgorithm that operates directly on Math::VectorArray inputs.

Template Parameters

VA	The Math::VectorArray specialization type.
V	The vector element type of VA.
T	The scalar value type of V.

Member Typedef Documentation

VectorArrayType

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

typedef VA CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::VectorArrayType

The vector-array type.

VectorType

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

typedef V CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::VectorType

The vector element type of VectorArrayType.

ValueType

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

typedef T CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::ValueType

The scalar value type.

MatrixType

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

typedef KabschAlgorithm<ValueType>::MatrixType CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::MatrixType

The matrix type used for the computed transformation.

Member Function Documentation

calculate() [1/2]

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

template<typename VE >

bool CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::calculate ( const VectorArrayType &  points, const VectorArrayType &  ref_points, const VectorExpression< VE > &  weights, bool  do_center = true, std::size_t  max_svd_iter = 0  )

inline

Aligns points onto ref_points (with per-point weights) using the Kabsch algorithm.

Template Parameters

VE	The weight-vector expression type.

Parameters

points	The vector array containing the points to align.
ref_points	The vector array containing the reference points.
weights	The per-point weights.
do_center	If true, the point sets are centered before alignment.
max_svd_iter	The maximum number of iterations for the internal SVD step (0 means unlimited).

Returns

true if the SVD step converged, and false otherwise.

calculate() [2/2]

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

bool CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::calculate ( const VectorArrayType &  points, const VectorArrayType &  ref_points, bool  do_center = true, std::size_t  max_svd_iter = 0  )

inline

Aligns points onto ref_points (with uniform weights) using the Kabsch algorithm.

Parameters

points	The vector array containing the points to align.
ref_points	The vector array containing the reference points.
do_center	If true, the point sets are centered before alignment.
max_svd_iter	The maximum number of iterations for the internal SVD step (0 means unlimited).

Returns

true if the SVD step converged, and false otherwise.

getTransform()

template<typename VA , typename V = typename VA::ElementType, typename T = typename V::ValueType>

const MatrixType& CDPL::Math::VectorArrayAlignmentCalculator< VA, V, T >::getTransform ( ) const

inline

Returns the rigid-body transformation produced by the most recent successful calculate() call.

Returns

A const reference to the homogeneous transformation matrix.

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The documentation for this class was generated from the following file:

• VectorArrayAlignmentCalculator.hpp