PUBLIC

RanRegisC::NoValidPoints(const FloatRangeC &) RanRegisC::RanRegisC(const FloatRangeC &,const FloatRangeC &,const int &,const RigidTransC &) RanRegisC::~RanRegisC(void) BaseRegisC::SetExpectedRT(const RigidTransC &) BaseRegisC::SetMaxIter(const int &) BaseRegisC::SetPrediction(const EnumPrediction &) BaseRegisC::SetRMSThresh(const double &) BaseRegisC::SetRegWay(const EnumRegWay &) BaseRegisC::SetRegType(const SceModT &) BaseRegisC::SetMSECalculation(const EnumMseCalculation &) BaseRegisC::SetBoundaryCheck(const EnumBoundary &) BaseRegisC::SetNormalCheck(const EnumAngle &) BaseRegisC::SetDistanceCheck(const EnumSigmaCheck &) BaseRegisC::SetHistory(const int &) BaseRegisC::SaveHistory2Com(const char *,const char *) BaseRegisC::PerformRegistration(RigidTransC) BodyRefCounterVC::Copy(void) const BodyRefCounterVC::operator==(const BodyRefCounterVC &) const BodyRefCounterVC::operator!=(const BodyRefCounterVC &) const BodyRefCounterVC::Save(ostream &) const BodyRefCounterC::AddReference(void) BodyRefCounterC::RemoveReference(void) BodyRefCounterC::SetConst(void) const BodyRefCounterC::SetConst(void) BodyRefCounterC::IsConst(void) const BodyRefCounterC::IsNotConst(void) const BodyRefCounterC::ToBeDeleted(void) const BodyRefCounterC::ToBeDeletedRemoveIgnoreNoRemove(void) BodyRefCounterC::ToBeDeletedRemove(void) BodyRefCounterC::BodyMightBeDeleted(void) const BodyRefCounterC::IsCountZero(void) const BodyRefCounterC::BRCPtrCanDeleteObject(void) const BodyRefCounterC::Count(void) const BodyRefCounterC::operator=(const BodyRefCounterC &) BodyRefCounterC::IsValidObject(void) const BodyRefCounterC::UserBitTest(IntT) const BodyRefCounterC::UserBitSet(IntT,BooleanT) BodyRefCounterC::UserBitZero(IntT) BodyRefCounterC::ReportBRCError(char *) BodyRefCounterC::Hash(void) const RefCounterBaseC::Label(void) const

RanRegisC
RanRegisC uses the Range Image Search Nearest Neighbour Method and is reference counted (Big Object).
include	"amma/RanRegis.hh"
User Level:	Default
Library:	POLREGIS
Example:	cri.cc
Section:	3D Surface.Registration
In Scope:	std

Comments:
RanRegisC is derived from the base abstract class BaseRegisC and is reference counted (Big Object). This is the Body and should not be used directly. It should be used by the provided Handle Class.

The class requires two range images (FloatRangeC).

An initial guess is required to start the iterative process of motion estimate, which is passed to PerformRegistration (a member function of BaseRegisC). The result of the final transformation that registers the two surfaces will be returned as a RigidTransC.

The constructor uses the first range image to do the nearest neighbour (NN) search on.

There are various options provided by the constructor and member functions, which affect results, except the trace option. See the Base Class for more details on these options.

public BaseRegisC

int NoValidPoints(const FloatRangeC & mov)

This is to be used by the constructor only!!!!!

mov	IN: The moveable object

It is just to determine the number of valid points within the moveable FloatRangeC.

RanRegisC(const FloatRangeC & fix,const FloatRangeC & mov,const int & trace = 0,const RigidTransC & preReg = RigidTransC())

Constructor

fix	IN: The fixed object
mov	IN: The moveable object
trace	IN: 1 = Detailed prints & save data
	0 = No prints, no savings

~RanRegisC()

Destructor

void SetExpectedRT(const RigidTransC & exp = RigidTransC())

Sets the expected Final translation & rotation.

exp	IN: Expected final Translation and Rotation

This is so that it can be compared with the actual translation and rotation at the end of the print out. It also allows errors to be computed.

void SetMaxIter(const int & iteration = 1000)

Maximum number of iterations before terminating the registration.

iteration	IN: Maximum number of iterations

void SetPrediction(const EnumPrediction & prediction = noPrediction)

Whether to use prediction or basic ICP.

prediction	IN: noPrediction = No Prediction
	prediction = Perform Prediction

void SetRMSThresh(const double & ratioThres = 0.99)

Set threshold for RMS error.

ratioThres	IN: ratio threshold

Termination occurs when 2 successive ratios exceed ratioThres. See IterationBreak() for details.

void SetRegWay(const EnumRegWay & regWay = regis)

Chooses the function which will calculate the transform to move the moveable onto the new nearest neighbours on the fixed surface.

regWay	IN: regis = Regis
	pRegis = PRegis

THE DEFAULT IS THE ONLY OPTION CURRENTLY USED !!!!

void SetRegType(const SceModT & regType = scene_scene)

Defines the registration type.

regType	IN: scene_scene = scene_scene
	model_scene = model_scene

THE DEFAULT IS THE ONLY OPTION CURRENTLY USED !!!!

void SetMSECalculation(const EnumMseCalculation & mseCalc = standardMse)

Sets the calculation type for the MSE.

mseCalc	IN: standardMse = Standard MSE
	madEstimator = Uses the MAD Estimator

void SetBoundaryCheck(const EnumBoundary & bound = discardBoundaryPoints)

Whether to modify weights of NN pairs that are on the boundary of fixed.

bound	IN: keepBoundaryPoints = Don't modify weight values
	discardBoundaryPoints = Modify weight values accordingly

void SetNormalCheck(const EnumAngle & normal = noAngleCheck)

Whether to modify weights of NN pairs that have significantly different normal values.

normal	IN: noAngleCheck = Don't do normal angle check
	doAngleCheck = Do normal angle check

void SetDistanceCheck(const EnumSigmaCheck & sigma = noDistanceCheck)

Whether to modify weights of NN pairs that have significantly greater distances between them & the moving object, compared to the rest overall.

sigma	IN: noDistanceCheck = Don't do distance check
	doDistanceCheck = Do distance check

void SetHistory(const int & hst = 0)

Used to set whether a history of RTs (RigidTransforms) are kept.

hst	IN: 0 = Do not keep history of RTs
	1 = Keep a history of each RT obtained
	after each iteration

Note: Call this function before PerformRegistration().

void SaveHistory2Com(const char * comfname,const char * movfname)

Uses the history information and creates a .com file.

comfname	IN: Filename for .com file
movfname	IN: Filename of the moveable file

Note: Call this function after you have called PerformRegistration().

RigidTransC PerformRegistration(RigidTransC guess)

Execute registration with initial guess, return desired RT.

guess	IN: Initial guess

BodyRefCounterVC & Copy() const

Creat a copy of this object.

BooleanT operator==(const BodyRefCounterVC & oth) const

Compair identitys.

BooleanT operator!=(const BodyRefCounterVC & oth) const

Compair identitys.

BooleanT Save(ostream & out) const

Save to ostream.

void AddReference()

Another reference to the object has been created.

void RemoveReference()

One reference to the object was deleted.
Locking scheme -------------- The object is possible to lock (to make constant). The scheme assumes that the object is created, it can be locked, after that it can only be destroyed. The locked object cannot be unlocked. This locking scheme is very useful during debugging, using assert() function, when it is necassary to check that object is treated as constant and the constancy is not violated by any casting or passing through the copy constructor of shared objects.

void SetConst(void) const

This locks the object.
Often objects you wish to lock are already const.

void SetConst(void)

This locks the object.

BooleanT IsConst(void) const

Returns TRUE if the object is locked, ie. it is assumed to be constant.

BooleanT IsNotConst(void) const

Returns TRUE if the object is unlocked.
ie. there is no special information if the object is constant or not. Counter state information -------------------------

BooleanT ToBeDeleted() const

Returns TRUE if there is only one reference to the object and the whole object or its reference counting part can be deleted.

BooleanT ToBeDeletedRemoveIgnoreNoRemove()

Decrement refrence by 1 return true if this leaves no refrences to the object.

BooleanT ToBeDeletedRemove()

Decrement refrence by 1 return true if this leaves no refrences to the object. This also checks the NoRemove flag.

BooleanT BodyMightBeDeleted() const

Returns TRUE if the reference counted part of the object can be deleted, ie. flag NOREMOVE is false .

BooleanT IsCountZero() const

Are there any refrences left ?

BooleanT BRCPtrCanDeleteObject() const

Used by BRRCPtrC to establish if an object has ZERO refrences and can be deleted.

IntT Count() const

Returns the current state of the counter, ie. how many references to this object exist.

const BodyRefCounterC & operator=(const BodyRefCounterC & b)

It has not meaning to assign object 'b' to this object because it would destroy a history of the object which is counted. So this is a dummy function.

BooleanT IsValidObject() const

Test if object is valid.
When amma check is disabled this always returns true.

BooleanT UserBitTest(IntT x) const

Test user flag.

void UserBitSet(IntT x,BooleanT setit = TRUE)

Test user flag.

void UserBitZero(IntT x)

Set bit to zero.

void ReportBRCError(char * Msg)

Report error, used in BRCPtrC.

UIntT Hash() const

Hash on address of object.

LabelT Label() const

Returns the label of this reference counter.
The member function is useful mainly to recognize objects during debugging. The value of the label is uniquely defined pointer.