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;.
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)
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);.
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)
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)
const Point_3 &	get_reference_centroid (void) const
	Return the reference centroid if any.
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.
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.
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.
template<class InputIterator, class OutputIterator>
OutputIterator	transform (InputIterator begin, InputIterator end, OutputIterator out) const
	Same as before, but points are represented by input iterators.
void	set_weights (std::vector< double > weights)
	Initialize the weights (for weighted version)
void	print_transform_matrix () const
	Print the matrix.
const Matrix &	get_rotation () const
	Access to the rotation matrix.
const Vector_3 &	get_translation () const
	Acces to the translation vector.
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.
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.
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.

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]

template<class FT>

T_Point_cloud_rigid_registration_3 ( void )

inline

Initialize with no transformation;.

T_Point_cloud_rigid_registration_3() [2/5]

template<class FT>

template<class PointContainer>

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]

template<class FT>

template<class PointContainer>

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]

template<class FT>

template<class InputIterator1, class InputIterator2>

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]

template<class FT>

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 )

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()

template<class FT>

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

inline

Return the reference centroid if any.

get_rotation()

template<class FT>

const T_Point_cloud_rigid_registration_3< FT >::Matrix & get_rotation ( ) const

inline

Access to the rotation matrix.

get_translation()

template<class FT>

const T_Point_cloud_rigid_registration_3< FT >::Vector_3 & get_translation ( ) const

inline

Acces to the translation vector.

operator()() [1/3]

template<class FT>

template<class PointContainer1, class PointContainer2, class OutputIterator>

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]

template<class FT>

template<class InputIterator1, class InputIterator2, class OutputIterator>

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]

template<class FT>

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 )

inline

Same as before, but input is coordinates.

print_transform_matrix()

template<class FT>

void print_transform_matrix ( ) const

inline

Print the matrix.

set_weights()

template<class FT = double>

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

inline

Initialize the weights (for weighted version)

transform() [1/4]

template<class FT>

template<class PointContainer, class OutputIterator>

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]

template<class FT>

template<class PointContainer, class OutputIterator>

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]

template<class FT>

template<class InputIterator, class OutputIterator>

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

inline

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

transform() [4/4]

template<class FT>

template<class InputIterator, class OutputIterator>

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

inline

Same as before, but input and output are coordinates.