T_Point_cloud_rigid_registration_3< FT > Class Template Reference

Model of Distances for defining distance between two point clouds. More...

#include <Point_cloud_rigid_registration_3.hpp>

Public Member Functions
	T_Point_cloud_rigid_registration_3 (void)
	Initialize with no transformation;. More...
template<class PointContainer >
	T_Point_cloud_rigid_registration_3 (const PointContainer &x, const PointContainer &y)
	Initialize the transformation with from y to x (x is the reference) More...
template<class PointContainer >
	T_Point_cloud_rigid_registration_3 (const PointContainer &x, const PointContainer &y, std::vector< double > weights)
	Initialize the weighted transformation from y to x (x is the reference);. More...
template<class InputIterator1 , class InputIterator2 >
	T_Point_cloud_rigid_registration_3 (InputIterator1 begin_1, InputIterator1 end_1, InputIterator2 begin_2, InputIterator2 end_2)
	Initialize the transformation from the second set of points to the first set of points (the first set of points is the reference) More...
template<class InputIterator1 , class InputIterator2 >
	T_Point_cloud_rigid_registration_3 (InputIterator1 begin_1, InputIterator1 end_1, InputIterator2 begin_2, InputIterator2 end_2, std::vector< double > weights)
	Initialize the weighted transformation from the second set of points to the first set of points (the first set of points is the reference) More...
const Point_3 &	get_reference_centroid (void) const
	Return the reference centroid if any. More...
template<class PointContainer , class OutputIterator >
OutputIterator	transform (const PointContainer &points, OutputIterator out) const
	Make the rigid registration of the input points w.r.t the internal transformation, and output the transformed points. More...
template<class PointContainer , class OutputIterator >
OutputIterator	transform (const PointContainer &points, const Point_3 &ref_centroid, OutputIterator out) const
	Make the rigid registration of the input points w.r.t the internal transformation and the given centroid, and output the transformed points. More...
template<class InputIterator , class OutputIterator >
OutputIterator	transform (unsigned size, InputIterator begin, InputIterator end, OutputIterator out) const
	Same as before, but input and output are coordinates. More...
template<class InputIterator , class OutputIterator >
OutputIterator	transform (InputIterator begin, InputIterator end, OutputIterator out) const
	Same as before, but points are represented by input iterators. More...
void	set_weights (std::vector< double > weights)
	Initialize the weights (for weighted version) More...
void	print_transform_matrix () const
	Print the matrix. More...
const Matrix &	get_rotation () const
	Access to the rotation matrix. More...
const Vector_3 &	get_translation () const
	Acces to the translation vector. More...
template<class PointContainer1 , class PointContainer2 , class OutputIterator >
OutputIterator	operator() (const PointContainer1 &x, const PointContainer2 &y, OutputIterator out)
	Make the rigid registration from y to x, and return it in the output iterator. More...
template<class InputIterator1 , class InputIterator2 , class OutputIterator >
OutputIterator	operator() (unsigned size_1, InputIterator1 begin_1, InputIterator1 end_1, unsigned size_2, InputIterator2 begin_2, InputIterator2 end_2, OutputIterator out)
	Same as before, but input is coordinates. More...
template<class InputIterator1 , class InputIterator2 , class OutputIterator >
OutputIterator	operator() (InputIterator1 begin_1, InputIterator1 end_1, InputIterator2 begin_2, InputIterator2 end_2, OutputIterator out)
	Same as before, but points are represented by input iterators. More...

Detailed Description

template<class FT = double>
class SBL::GT::T_Point_cloud_rigid_registration_3< FT >

Model of Distances for defining distance between two point clouds.

Computes the least-Root Mean Squared Distance between two conformations. We use the Kabsch algorithm for finding the optimal rotation matrix that minimizes the $RMSD$*. Models for templates:Data_kernel: a linear kernel from CGAL defining points used for $l-RMSD$; Point_container: a stl container of points from Data_kernel (e.g a list); Local_kernel: a kernel from CGAL for the output $l-RMSD$

FT: Works with primitive types only

Constructor & Destructor Documentation

T_Point_cloud_rigid_registration_3() [1/5]

T_Point_cloud_rigid_registration_3 ( void  )

inline

Initialize with no transformation;.

T_Point_cloud_rigid_registration_3() [2/5]

T_Point_cloud_rigid_registration_3 ( const PointContainer &  x, const PointContainer &  y  )

inline

Initialize the transformation with from y to x (x is the reference)

T_Point_cloud_rigid_registration_3() [3/5]

T_Point_cloud_rigid_registration_3 ( const PointContainer &  x, const PointContainer &  y, std::vector< double >  weights  )

inline

Initialize the weighted transformation from y to x (x is the reference);.

T_Point_cloud_rigid_registration_3() [4/5]

T_Point_cloud_rigid_registration_3 ( InputIterator1  begin_1, InputIterator1  end_1, InputIterator2  begin_2, InputIterator2  end_2  )

inline

Initialize the transformation from the second set of points to the first set of points (the first set of points is the reference)

T_Point_cloud_rigid_registration_3() [5/5]

T_Point_cloud_rigid_registration_3 ( InputIterator1  begin_1, InputIterator1  end_1, InputIterator2  begin_2, InputIterator2  end_2, std::vector< double >  weights  )

inline

Initialize the weighted transformation from the second set of points to the first set of points (the first set of points is the reference)

Member Function Documentation

get_reference_centroid()

const T_Point_cloud_rigid_registration_3< FT >::Point_3 & get_reference_centroid ( void  ) const

inline

Return the reference centroid if any.

get_rotation()

const T_Point_cloud_rigid_registration_3< FT >::Matrix & get_rotation

inline

Access to the rotation matrix.

get_translation()

const T_Point_cloud_rigid_registration_3< FT >::Vector_3 & get_translation

inline

Acces to the translation vector.

operator()() [1/3]

OutputIterator operator() ( const PointContainer1 &  x, const PointContainer2 &  y, OutputIterator  out  )

inline

Make the rigid registration from y to x, and return it in the output iterator.

operator()() [2/3]

OutputIterator operator() ( InputIterator1  begin_1, InputIterator1  end_1, InputIterator2  begin_2, InputIterator2  end_2, OutputIterator  out  )

inline

Same as before, but points are represented by input iterators.

operator()() [3/3]

OutputIterator operator() ( unsigned  size_1, InputIterator1  begin_1, InputIterator1  end_1, unsigned  size_2, InputIterator2  begin_2, InputIterator2  end_2, OutputIterator  out  )

inline

Same as before, but input is coordinates.

print_transform_matrix()

void print_transform_matrix

inline

Print the matrix.

set_weights()

void set_weights ( std::vector< double >  weights )

inline

Initialize the weights (for weighted version)

transform() [1/4]

OutputIterator transform ( const PointContainer &  points, const Point_3 &  ref_centroid, OutputIterator  out  ) const

inline

Make the rigid registration of the input points w.r.t the internal transformation and the given centroid, and output the transformed points.

transform() [2/4]

OutputIterator transform ( const PointContainer &  points, OutputIterator  out  ) const

inline

Make the rigid registration of the input points w.r.t the internal transformation, and output the transformed points.

transform() [3/4]

OutputIterator transform ( InputIterator  begin, InputIterator  end, OutputIterator  out  ) const

inline

Same as before, but points are represented by input iterators.

transform() [4/4]

OutputIterator transform ( unsigned  size, InputIterator  begin, InputIterator  end, OutputIterator  out  ) const

inline

Same as before, but input and output are coordinates.