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mln::registration Namespace Reference

Namespaces

namespace  impl

Functions

template<typename P , typename F >
std::pair< algebra::quat,
mln_vec(P)> 
icp (const p_array< P > &P_, const p_array< P > &X, const F &closest_point, const algebra::quat &initial_rot, const mln_vec(P)&initial_translation)
template<typename P , typename F >
composed< translation< P::dim,
float >, rotation< P::dim,
float > > 
icp (const p_array< P > &P_, const p_array< P > &X, const F &closest_point)

Detailed Description

Namespace of registrationional routines.

Function Documentation

template<typename P , typename F >
std::pair<algebra::quat,mln_vec(P)> mln::registration::icp ( const p_array< P > &  P_,
const p_array< P > &  X,
const F &  closest_point,
const algebra::quat &  initial_rot,
const mln_vec(P)&  initial_translation 
)

Register point in c using a function of closest points closest_point. This overload allows to specify initial transformations.

Parameters
[in]P_The cloud of points.
[in]Xthe reference surface.
[in]closest_pointThe function of closest points.
[in]initial_rotAn initial rotation.
[in]initial_translationAn initial translation.
Returns
the rigid transformation which may be use later to create a registered image.

WARNING: the function closest_point MUST take float/double vector as arguments. Otherwise the resulting transformation may be wrong due to the truncation of the vector coordinate values.

Precondition
P_ and X must not be empty.

This implementation is based on besl1992pami.

template<typename P , typename F >
composed< translation<P::dim,float>,rotation<P::dim,float> > mln::registration::icp ( const p_array< P > &  P_,
const p_array< P > &  X,
const F &  closest_point 
)

Register point in c using a function of closest points closest_point.

Parameters
[in]P_The cloud of points.
[in]Xthe reference surface.
[in]closest_pointThe function of closest points.
Returns
the rigid transformation which may be use later to create a registered image.