vgl_compute_rigid_3d< T > Class Template Reference

#include <vgl_compute_rigid_3d.h>

Public Member Functions
	vgl_compute_rigid_3d ()=default
	vgl_compute_rigid_3d (std::vector< vgl_point_3d< T > > const &points1, std::vector< vgl_point_3d< T > > const &points2)
	~vgl_compute_rigid_3d ()=default
void	add_points (vgl_point_3d< T > const &p1, vgl_point_3d< T > const &p2)
	add a pair of points to point sets. More...
void	clear ()
	clear internal data. More...
bool	estimate ()
	estimates the rigid transformation from the stored points. More...
const vgl_rotation_3d< T > &	rotation () const
	Access the estimated rotation. More...
const vgl_vector_3d< T > &	translation () const
	Access the estimated translation. More...

Protected Member Functions
void	center_points (std::vector< vgl_point_3d< T > > &pts, vgl_vector_3d< T > &t) const
	center all the points at the origin, and return the applied translation. More...
void	scale_points (std::vector< vgl_point_3d< T > > &pts, T &s) const
	normalize the scale of the points, and return the applied scale. More...

Protected Attributes
std::vector< vgl_point_3d< T > >	points1_
std::vector< vgl_point_3d< T > >	points2_
vgl_rotation_3d< T >	rotation_
vgl_vector_3d< T >	translation_

Detailed Description

template<class T>
class vgl_compute_rigid_3d< T >

Definition at line 29 of file vgl_compute_rigid_3d.h.

Constructor & Destructor Documentation

vgl_compute_rigid_3d() [1/2]

template<class T>

vgl_compute_rigid_3d< T >::vgl_compute_rigid_3d ( )

default

vgl_compute_rigid_3d() [2/2]

template<class T >

vgl_compute_rigid_3d< T >::vgl_compute_rigid_3d	(	std::vector< vgl_point_3d< T > > const &	points1,
		std::vector< vgl_point_3d< T > > const &	points2
	)

Definition at line 21 of file vgl_compute_rigid_3d.hxx.

~vgl_compute_rigid_3d()

template<class T>

vgl_compute_rigid_3d< T >::~vgl_compute_rigid_3d ( )

default

Member Function Documentation

add_points()

template<class T >

void vgl_compute_rigid_3d< T >::add_points	(	vgl_point_3d< T > const &	p1,
		vgl_point_3d< T > const &	p2
	)

add a pair of points to point sets.

Definition at line 31 of file vgl_compute_rigid_3d.hxx.

center_points()

template<class T >

void vgl_compute_rigid_3d< T >::center_points ( std::vector< vgl_point_3d< T > > &  pts, vgl_vector_3d< T > &  t  ) const

protected

center all the points at the origin, and return the applied translation.

Definition at line 49 of file vgl_compute_rigid_3d.hxx.

clear()

template<class T >

void vgl_compute_rigid_3d< T >::clear

(

)

clear internal data.

Definition at line 39 of file vgl_compute_rigid_3d.hxx.

estimate()

template<class T >

bool vgl_compute_rigid_3d< T >::estimate

(

)

estimates the rigid transformation from the stored points.

Definition at line 89 of file vgl_compute_rigid_3d.hxx.

rotation()

template<class T>

const vgl_rotation_3d<T>& vgl_compute_rigid_3d< T >::rotation ( ) const

inline

Access the estimated rotation.

Definition at line 57 of file vgl_compute_rigid_3d.h.

scale_points()

template<class T >

void vgl_compute_rigid_3d< T >::scale_points ( std::vector< vgl_point_3d< T > > &  pts, T &  s  ) const

protected

normalize the scale of the points, and return the applied scale.

The average distance from the origin will be sqrt(3)

Definition at line 70 of file vgl_compute_rigid_3d.hxx.

translation()

template<class T>

const vgl_vector_3d<T>& vgl_compute_rigid_3d< T >::translation ( ) const

inline

Access the estimated translation.

Definition at line 60 of file vgl_compute_rigid_3d.h.

Member Data Documentation

points1_

template<class T>

std::vector<vgl_point_3d<T> > vgl_compute_rigid_3d< T >::points1_

protected

Definition at line 75 of file vgl_compute_rigid_3d.h.

points2_

template<class T>

std::vector<vgl_point_3d<T> > vgl_compute_rigid_3d< T >::points2_

protected

Definition at line 76 of file vgl_compute_rigid_3d.h.

rotation_

template<class T>

vgl_rotation_3d<T> vgl_compute_rigid_3d< T >::rotation_

protected

Definition at line 77 of file vgl_compute_rigid_3d.h.

translation_

template<class T>

vgl_vector_3d<T> vgl_compute_rigid_3d< T >::translation_

protected

Definition at line 78 of file vgl_compute_rigid_3d.h.

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

• core/vgl/algo/vgl_compute_rigid_3d.h
• core/vgl/algo/vgl_compute_rigid_3d.hxx