PointCorr Class Reference

#include <ImFusion/Base/PointCorr.h>

Container for point correspondences. More...

Inheritance diagram for PointCorr:

Detailed Description

Container for point correspondences.

Public Member Functions
	PointCorr ()
	Constructor.
virtual	~PointCorr ()=default
	Virtual destructor.
virtual void	setMatrix (const mat4 &mat)
	Set the transformation matrix from tracking to world coords.
void	apply ()
	Transforms all tracking points to world coords and resets matrix to identity.
virtual double	evaluate () const
	Evaluate the average distance error.
void	evaluateError (std::vector< double > &out) override
	Evaluate all available errors, implementing the ErrorFunction interface.
virtual mat4	fitRigid (bool findCorrespondences=false) const
	Return rigid transformation of point correspondence fitting.
mat4	fitAffine () const
	Return affine transformation of point correspondence fitting.
std::vector< mat4 >	fitCombinations (int maxNumRemoved, bool affine) const
	Return registrations resulting from removing up to maxNumRemoved point from each set.
int	size () const
	Return the number of point correspondences.
virtual const mat4 &	matrix () const
	Return the transformation matrix.
vec3	world (int which) const
	Return a particular world point.
virtual vec3	trackedInWorld (int which) const
	Return a particular tracked point in world coordinates.
virtual void	clear ()
	Remove all points and reset transformation.
virtual void	remove (int idx)
	Remove point correspondence at a given index.
virtual void	removeLast ()
	Remove the last point correspondence.
bool	load (const std::string &filenameWorld, const std::string &filenameTracked, bool replicateLastPoint=false)
	Load point correspondences from two text files, returns true if successful The last flag is only used when the number of points is different.
bool	save (const std::string &filenameWorld, const std::string &filenameTracked) const
	Save (transformed) point correspondences to two text files.
bool	saveTagFile (const std::string &filename, bool world, bool tracked) const
	Save one or both sets of points to a file with the MNI tag format.
const std::vector< vec4 > &	worldPoints () const
const std::vector< vec4 > &	trackPoints () const
Public Member Functions inherited from ErrorFunction
virtual double	penalize (double cost, const std::vector< double > &error)
	Optionally override this method to penalize a cost function based on the error function result.

Static Public Member Functions
static void	loadPoints (const std::string &filename, std::vector< vec3 > &pointsOut)
	Auxiliary method to load points from a text file.
static double	errorToMultPenalty (double value, double range)
	There is a margin of half the range within which the returned penalty value fades from 1 to 0 with a polynomial function, and extents below zero after 1.5x range, and is continuous in the derivative.
static double	errorsToMultPenalty (const std::vector< double > &error, const std::vector< double > &range)
	Return a number of error values to a combined penalty function, while properly housekeeping values < 0.

Protected Attributes
std::vector< vec4 >	m_worldPoints
	Points in world coordinate system.
std::vector< vec4 >	m_trackPoints
	Points in tracked coordinate system.
mat4	m_matrix
	Transformation matrix.

Methods to add a point correspondence
void	add (const vec3 &world, const vec3 &tracked, bool inWorld=false)
	If the inWorld parameter is true, the tracked point is assumed to be in world coordinates and hence transformed with the inverse matrix.
void	add (const vec4 &world, const vec4 &tracked)
	Same as above, for homogeneous 4-vectors, except that tracked must always be in tracking space.
void	insert (int idx, const vec3 &world, const vec3 &tracked, bool inWorld=false)
	Insert at a given index point correspondence with 3D vectors in world and tracking space.
void	insert (int idx, const vec4 &world, const vec4 &tracked)
	Same as above, for homogeneous 4-vectors.

Methods to set a point correspondence at a given index
void	set (int idx, const vec3 &world, const vec3 &tracked)
void	set (int idx, const vec4 &world, const vec4 &tracked)
	Same as above, for homogeneous 4-vectors.

Member Function Documentation

add()

void add	(	const vec3 &	world,
		const vec3 &	tracked,
		bool	inWorld = false )

If the inWorld parameter is true, the tracked point is assumed to be in world coordinates and hence transformed with the inverse matrix.

Add correspondence with 3D vectors in world and tracking space

insert()

void insert	(	int	idx,
		const vec3 &	world,
		const vec3 &	tracked,
		bool	inWorld = false )

Insert at a given index point correspondence with 3D vectors in world and tracking space.

If the inWorld parameter is true, the tracked point is assumed to be in world coordinates and hence transformed with the inverse matrix.

set()

void set	(	int	idx,
		const vec3 &	world,
		const vec3 &	tracked )

Set point correspondence at a given index with 3D vectors in world and tracking space

evaluateError()

void evaluateError ( std::vector< double > & out )

overridevirtual

Evaluate all available errors, implementing the ErrorFunction interface.

Implements ErrorFunction.

fitCombinations()

std::vector< mat4 > fitCombinations	(	int	maxNumRemoved,
		bool	affine ) const

Return registrations resulting from removing up to maxNumRemoved point from each set.

Beware of the computation size since all combinations are computed. For a point set of size 10, maxNumRemoved = 5 or 6 should be the maximum used here.

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

• ImFusion/Base/PointCorr.h