Class allowing to estimate a 3d rigid transformationWe compute a rigid transformation such as :

$RT = \{R(\chi, \beta, \alpha), T(t_x, t_y, t_z)\}$

For more informations report to Rotations 3d. More...

#include <RigidTransform3dEstimator.h>

Inheritance diagram for ipsdk::geom::RigidTransform3dEstimator:

Public Types
enum	eEstimParams { eEP_Chi, eEP_Beta, eEP_Alpha, eEP_Tx, eEP_Ty, eEP_Tz }

enum	eDataType { eDT_X1, eDT_Y1, eDT_Z1, eDT_X2, eDT_Y2, eDT_Z2 }

Public Member Functions
Constructors and destructor
	RigidTransform3dEstimator ()

	~RigidTransform3dEstimator ()

Public Member Functions inherited from ipsdk::math::BaseEstimator
bool	isInit () const
	check for object initialization

ipUInt32	getNbMinRequestedData () const
	retrieve minimum data set size to ensure an estimation More...

ipUInt32	getNbEstimParams () const
	retrieve number of estimated parameters More...

ipUInt32	getDataSize () const
	unitary data size into data set collection More...

BoolResult	computeEstimation (const DataSet &dataSet, ParameterType &estimParams)
	method allowing to estimate parameters from a given data set More...

BoolResult	computeResiduals (const DataSet &dataSet, const ParameterType &estimParams, ResidualsSet &residualsSet) const
	method allowing to compute estimation residuals from a given data set and some estimated parameters More...

	BaseEstimator ()

virtual	~BaseEstimator ()=0

Static Public Attributes
static const ipUInt32	g_parameterSize = eEstimParams::size
	size of estimated parameters

static const ipUInt32	g_dataSize = eDataType::size
	size of data into data set

Protected Member Functions
BoolResult	processEstimation (const math::DataSet &dataSet, math::ParameterType &estimParams)
	method allowing to compute estimation into derived classes More...

BoolResult	processResiduals (const math::DataSet &dataSet, const math::ParameterType &estimParams, math::ResidualsSet &residualsSet) const
	method allowing to compute residuals into derived classes More...

Protected Member Functions inherited from ipsdk::math::BaseEstimator
void	initBase (const ipUInt32 nbMinRequestedData, const ipUInt32 nbEstimParams, const ipUInt32 dataSize)
	base class initialization More...

BoolResult	checkData (const DataSet &dataSet, const ParameterType &estimParams) const
	method allowing to check input data properties associated to estimation More...

virtual BoolResult	processEstimation (const DataSet &dataSet, ParameterType &estimParams)=0
	method allowing to compute estimation into derived classes More...

virtual BoolResult	processResiduals (const DataSet &dataSet, const ParameterType &estimParams, ResidualsSet &residualsSet) const =0
	method allowing to compute residuals into derived classes More...

Detailed Description

Class allowing to estimate a 3d rigid transformation

We compute a rigid transformation such as :

$RT = \{R(\chi, \beta, \alpha), T(t_x, t_y, t_z)\}$

For more informations report to Rotations 3d.

Author: E.Noirfalise

Date: 2016/10/14

Copyright: 2016 Reactiv'IP, all right reserved.

and where a pair of input points $p_1=\begin{pmatrix}x_1 \\ y_1 \\ z_1\end{pmatrix}$ and $p_2=\begin{pmatrix}x_2 \\ y_2 \\ z_2\end{pmatrix}$ are linked by following estimation formula :

$p_2 = R \times p_1 + T$

See also: Closed-form solution of absolute orientation using unit quaternions, Berthold.K.P Horn , Journal of Optical Society of America A, vol 4, page 629, April 1987

Member Enumeration Documentation

◆ eEstimParams

enum ipsdk::geom::RigidTransform3dEstimator::eEstimParams

description of estimated parameters

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eEP_Chi	chi component for euler rotation
eEP_Beta	beta component for euler rotation
eEP_Alpha	alpha component for euler rotation
eEP_Tx	translation coordinate along x axis
eEP_Ty	translation coordinate along y axis
eEP_Tz	translation coordinate along z axis

◆ eDataType

enum ipsdk::geom::RigidTransform3dEstimator::eDataType

description of data into data set

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eDT_X1	x coordinate of first point
eDT_Y1	y coordinate of first point
eDT_Z1	z coordinate of first point
eDT_X2	x coordinate of second point
eDT_Y2	y coordinate of second point
eDT_Z2	z coordinate of second point

Member Function Documentation

◆ processEstimation()

BoolResult ipsdk::geom::RigidTransform3dEstimator::processEstimation	(	const math::DataSet &	dataSet,
		math::ParameterType &	estimParams
	)

protected

method allowing to compute estimation into derived classes

Returns: false in case of failure

◆ processResiduals()

BoolResult ipsdk::geom::RigidTransform3dEstimator::processResiduals	(	const math::DataSet &	dataSet,
		const math::ParameterType &	estimParams,
		math::ResidualsSet &	residualsSet
	)		const

protected

method allowing to compute residuals into derived classes

Returns: false in case of failure

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

/media/reactivipdev/Nightly/IPSDK_Patch/IPSDK_4_1/IPSDK_Nightly/include/public/IPSDKGeometry/Estimation/3d/RigidTransform3dEstimator.h

Public Types

Public Member Functions

Static Public Attributes