ImFusion::PointDistanceReg Class Reference

#include <ImFusion/Base/PointDistanceReg.h>

Registers a point set to a distance volume. More...

Inheritance diagram for ImFusion::PointDistanceReg:

Detailed Description

Registers a point set to a distance volume.

Public Member Functions
	PointDistanceReg (const TypedImage< float > *dist, vec3 ofs=vec3::Zero())
	Constructor providing the distance volume and optional offset.
	~PointDistanceReg () override
	Destructor.
void	setInitialMatrix (const mat4 *m)
	Optionally provide an initial alignment matrix.
void	setReferenceMatrix (const mat4 &m)
	Set the optional reference matrix around which the relative pose will be applied.
void	setAngleAxis (bool flag)
	Enable or disable angle-axis parameterization of the rotation.
void	setWeightingAfterTransformation (bool after)
	Weigh the distances before or after applying the transformation.
void	setDistanceOutput (double *ptr)
	Provide a pointer used for storing individual point distances.
void	addPriorityBox (const vec3 &minCorner, const vec3 &maxCorner, double weight)
	Optionally defines rectangular regions with different weighting.
double	evaluate (int n, const double *x, double *dx=0) override
	Returns point distance for a certain pose.
double	computeDistance (const vec3 &point) const
	Returns the distance of a given point to the surface model in mm.
std::vector< vec3 > &	points ()
	Read-write access to the point set.
void	setPointWeights (const std::vector< double > &w)
std::vector< double >	pointWeights () const
void	setMatrix (const mat4 &mat)
	Set the current transformation matrix.
const mat4 &	matrix () const
	Access the current transformation matrix.
mat4	matrix (int n, const double *x) const
	Return transformation matrix given relative pose parameters.
int	removeOutliers (int n, const double *x, double threshold)
	Remove outliers from current points w.r.t. the input pose parameters, returns the number of such outliers.

Member Function Documentation

evaluate()

double ImFusion::PointDistanceReg::evaluate ( int n, const double * x, double * dx = 0 )

overridevirtual

Returns point distance for a certain pose.

Implements ImFusion::CostFunction.

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

• ImFusion/Base/PointDistanceReg.h