CDPL.Math.Vector3DArrayAlignmentCalculator Class Reference

Kabsch algorithm [KABA] implementation that operates directly on vector array inputs. More...

Inheritance diagram for CDPL.Math.Vector3DArrayAlignmentCalculator:

Public Member Functions
None	__init__ ()
	Contructs the Vector3DArrayAlignmentCalculator instance.
None	__init__ (Vector3DArrayAlignmentCalculator algo)
	Contructs a copy of the Vector3DArrayAlignmentCalculator instance algo. More...
int	getObjectID ()
	Returns the numeric identifier (ID) of the wrapped C++ class instance. More...
Vector3DArrayAlignmentCalculator	assign (Vector3DArrayAlignmentCalculator algo)
	Replaces the current state with a copy of the state of the Vector3DArrayAlignmentCalculator instance algo. More...
DMatrix	getTransform ()
	Returns the rigid-body transformation produced by the most recent successful calculate() call. More...
bool	calculate (Vector3DArray points, Vector3DArray ref_points, bool do_center=True, int max_svd_iter=0)
	Aligns points onto ref_points (with uniform weights) using the Kabsch algorithm. More...
bool	calculate (Vector3DArray points, Vector3DArray ref_points, ConstFVectorExpression weights, bool do_center=True, int max_svd_iter=0)
	Aligns points onto ref_points (with per-point weights) using the Kabsch algorithm. More...
bool	calculate (Vector3DArray points, Vector3DArray ref_points, ConstDVectorExpression weights, bool do_center=True, int max_svd_iter=0)
	Aligns points onto ref_points (with per-point weights) using the Kabsch algorithm. More...

Properties
	objectID = property(getObjectID)
	transform = property(getTransform)

Detailed Description

Kabsch algorithm [KABA] implementation that operates directly on vector array inputs.

Constructor & Destructor Documentation

__init__()

None CDPL.Math.Vector3DArrayAlignmentCalculator.__init__

(

Vector3DArrayAlignmentCalculator

algo

)

Contructs a copy of the Vector3DArrayAlignmentCalculator instance algo.

Parameters

algo	The Vector3DArrayAlignmentCalculator instance to copy.

Member Function Documentation

getObjectID()

int CDPL.Math.Vector3DArrayAlignmentCalculator.getObjectID

(

)

Returns the numeric identifier (ID) of the wrapped C++ class instance.

Different Python Vector3DArrayAlignmentCalculator instances may reference the same underlying C++ class instance. The commonly used Python expression a is not b thus cannot tell reliably whether the two Vector3DArrayAlignmentCalculator instances a and b reference different C++ objects. The numeric identifier returned by this method allows to correctly implement such an identity test via the simple expression a.getObjectID() != b.getObjectID().

Returns

The numeric ID of the internally referenced C++ class instance.

assign()

Vector3DArrayAlignmentCalculator CDPL.Math.Vector3DArrayAlignmentCalculator.assign

(

Vector3DArrayAlignmentCalculator

algo

)

Replaces the current state with a copy of the state of the Vector3DArrayAlignmentCalculator instance algo.

Parameters

algo	The Vector3DArrayAlignmentCalculator instance to copy.

Returns

self.

getTransform()

DMatrix CDPL.Math.Vector3DArrayAlignmentCalculator.getTransform

(

)

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

Returns

The homogeneous transformation matrix.

calculate() [1/3]

bool CDPL.Math.Vector3DArrayAlignmentCalculator.calculate	(	Vector3DArray	points,
		Vector3DArray	ref_points,
		bool	do_center = True,
		int	max_svd_iter = 0
	)

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.

calculate() [2/3]

bool CDPL.Math.Vector3DArrayAlignmentCalculator.calculate	(	Vector3DArray	points,
		Vector3DArray	ref_points,
		ConstFVectorExpression	weights,
		bool	do_center = True,
		int	max_svd_iter = 0
	)

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

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() [3/3]

bool CDPL.Math.Vector3DArrayAlignmentCalculator.calculate	(	Vector3DArray	points,
		Vector3DArray	ref_points,
		ConstDVectorExpression	weights,
		bool	do_center = True,
		int	max_svd_iter = 0
	)

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

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.