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SchmittC::SchmittC(CorrSetC,SArray1dC,double,int,int,int) SchmittC::~SchmittC(void) SchmittC::SetExpectedRTs(SArray1dC) SchmittC::Solve(void)

SchmittC
The SchmittC class registers N point sets using Schmitt's method.
include	"amma/Schmitt.hh"
User Level:	Default
Library:	Regis
Example:	testcom.cc
Section:	3D Surface.Registration
In Scope:	std

Comments:

The SchmittC class registers N point sets using Schmitt's method.

There are M overlapping sets of points (Schmitt's notation), which means that each view has a point set, so M is the number of views. The overlap between two different views, are subsets of the point sets belonging to each view, and this is a correspondence set.

 Algorithm
   - Calculate all constant matrices (Abar, Pbar, all Q's =Qr+Qt).
   - Main Loop: While not converged do
        -> Calculate all N^j's & hence the quaternions (rotations).
        -> Calculate Bbar (diff between rotated centroids).
        -> Calculate Xbar (translations).
        -> Update Rigid Transforms.
        -> Calculate MSE.
        -> Determine if convergence has occurred.
 

The constructor allows guesses to be passed which will then be used to initialise the elements of rtsM. Each element being associated with a view.

The expected rigid transforms can be passed via the function SetExpectedRTs, which is only used for the calculation of delta theta.

SchmittC(CorrSetC corrset,SArray1dC<RigidTransC> rtguesses,double rmsthresh = 0.99,int trace = 0,int miniter = -1,int maxiter = 1000)

~SchmittC(void)

Destructor.

void SetExpectedRTs(SArray1dC<RigidTransC> expectedrts)

Used to set the expected RTs.

SArray1dC<RigidTransC> Solve(void)

The main function which determines the optimal Rigid Transforms for each view.