Detailed Description

Class that handles point correspondences.

Points at corresponding indices on the two PointsOnData instances are considered correspondences. When creating PointCorrespondences(first, second) names of points in first and second are made uniform giving precedence to names in first. Logic for matching points based on their names should be implemented outside of this class. The class supports both full-set and subset-based rigid fitting, allowing users to select specific point correspondences for the transformation calculation. The class supports estimation of a fitting error for any correspondence using complementary correspondences, which can assist with the identification of inconsistent correspondences.

Public Types
enum class	Reduction { Mean , Median , Max , Min }
	Reduction type used during distance evaluation.

enum class	FitErrorType { LeaveOneOut = 0 , Hierarchical = 1 }

Public Member Functions
	PointCorrespondences (PointsOnData first, PointsOnData second)
	Takes two PointsOnData handle the correspondences between them.

int	size () const
	Returns the smallest number of points out of both PointsOnData.

int	numberOfPoints () const
	Returns the largest number of points out of both PointsOnData.

std::string	name (int which) const
	Returns the name of a correspondence.

void	setName (int which, const std::string &name)
	Sets the name of a correspondence. It sets the name of both points at index `which`

void	clear ()
	Removes all the correspondences.

void	remove (int index)
	Removes a specific correspondence.

void	remove (int first, int last)
	Removes the correspondences in range [first,last)

bool	isSelected (int index) const
	Returns whether a point correspondence is selected. Selected correspondences are used during evaluation and fitting. By default all correspondences are selected.

void	setSelected (int index, bool selected)
	Set whether a point correspondence is selected. Selected correspondences are used during evaluation and fitting.

double	evaluate (Reduction reduction=Reduction::Mean, const std::vector< double > *weights=nullptr) const
	Computes the distance between pairs of correspondences If an optional weights vector is provided, the individual errors are multiplied with it before reduction.

double	computePairwiseDistances (Reduction reduction=Reduction::Mean, const std::vector< double > *weights=nullptr) const
	Computes the distance between pairs of correspondences If an optional weights vector is provided, the individual errors are multiplied with it before reduction.

mat4	fitRigid (double *errorOut=nullptr, std::optional< std::vector< int > > subsetIndices=std::nullopt) const
	Fit a rigid transformation that aligns the selected points correspondence using Walker method.

double	calcFitError (int index) const
	Estimate an error (of type m_fitErrorType) for a correspondence (specified by index), based on a fitting procedure involving complementary correspondences Considers the selection.

PointsOnData *	pointHandler (int which)
	Returns the PointsOnData, index matches container order in construction.

const PointsOnData *	pointHandler (int which) const

void	setDefaultNameFormat (std::string format)
	Sets the default name format.

void	setFitErrorType (FitErrorType type)

FitErrorType	fitErrorType ()

Public Member Functions inherited from SignalReceiver
	SignalReceiver ()=default
	Default constructor.

	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.

SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.

virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

Public Attributes
Signal	signalCorrespondencesChanged
	Signal emitted whenever a correspondence changes. This can be because a correspondence is removed, added or a point is moved.

Protected Member Functions
void	onPointsAdded (PointsOnData *pod, int first, int last)

void	onPointsRemoved (int first, int last)

void	connectSignals ()

std::string	defaultName (int index) const

Protected Member Functions inherited from SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

Protected Attributes
FitErrorType	m_fitErrorType = FitErrorType::LeaveOneOut

std::pair< PointsOnData , PointsOnData >	m_pods

bool	m_renamingGuard = true

std::string	m_defaultNameFormat = "Correspondence {}"

Member Function Documentation

◆ evaluate()

double evaluate	(	Reduction	reduction = Reduction::Mean,
		const std::vector< double > *	weights = nullptr ) const

inline

Computes the distance between pairs of correspondences If an optional weights vector is provided, the individual errors are multiplied with it before reduction.

Deprecated: "evaluate is deprecated, use computePairwiseDistances instead."

◆ fitRigid()

mat4 fitRigid	(	double *	errorOut = nullptr,
		std::optional< std::vector< int > >	subsetIndices = std::nullopt ) const

Fit a rigid transformation that aligns the selected points correspondence using Walker method.

Parameters

errorOut	If specified will be filled with the mean error
subsetIndices	If specified only the points at these indices will be used whether they are selected or not

◆ setDefaultNameFormat()

void setDefaultNameFormat ( std::string format )

Sets the default name format.

The first argument of the format string is the index of the correspondence + 1. For example "Correspondence {}" will generate name "Correspondence 1" for the first correspondence

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

ImFusion/Base/PointCorrespondences.h

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ evaluate()

◆ fitRigid()

◆ setDefaultNameFormat()