PUBLIC

PolRegisHC::PolRegisHC(PolopsC &,VectorSetC &,VectorSetC &,const int &,const int &) PolRegisHC::PolRegisHC(PolopsC &,PolopsC &,const int &,const int &,const int &) PolRegisHC::PolRegisHC(PolopsC &,VectorSetC &,const int &) BaseRegisHC::SetExpectedRT(const RigidTransC &) BaseRegisHC::SetMaxIter(const int &) BaseRegisHC::SetPrediction(const EnumPrediction &) BaseRegisHC::SetRMSThresh(const double &) BaseRegisHC::SetRegWay(const EnumRegWay &) BaseRegisHC::SetRegType(const SceModT &) BaseRegisHC::SetMSECalculation(const EnumMseCalculation &) BaseRegisHC::SetBoundaryCheck(const EnumBoundary &) BaseRegisHC::SetNormalCheck(const EnumAngle &) BaseRegisHC::SetDistanceCheck(const EnumSigmaCheck &) BaseRegisHC::SetHistory(const int &) BaseRegisHC::SaveHistory2Com(const char *,const char *) BaseRegisHC::PerformRegistration(RigidTransC) RCHandleC::IsValid(void) const RCHandleC::IsValidObject(void) const RCHandleC::operator=(const RCHandleC &) RCHandleC::operator==(const RCHandleC &) const RCHandleC::operator!=(const RCHandleC &) const RCHandleC::Hash(void) const RCHandleC::IsConst(void) const RCHandleC::IsNotConst(void) const RCHandleC::SetConst(void) const RCHandleC::Invalidate(void) RCHandleC::Body(void) RCHandleC::Body(void) const

PolRegisHC
PolRegisHC is a Handle to the Derived Class PolRegisC, which is reference counted.
include	"amma/PolRegisHC.hh"
User Level:	Default
Library:	POLREGIS
Example:	regtool.cc
Section:	3D Surface.Registration
In Scope:	std

Comments:
PolRegisHC is a Handle to the Derived Class PolRegisC, which is reference counted.

Depending on the constructor called, the Class needs either two polops (fixed and moveable), one polop (fixed) and two vector sets (moveable points and their normals) or one polop (fixed) and one vector set (moveale points only ).

Depending on the constructor called the random sampling is either done within the Class or outside it, ie before calling the constructor. If the random sampling is not done outside the Class then npts points are randomly chosen from the moveable.

All vector sets that are passed to the constructors must have the same number of entries i=1...N.

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 PolopsC 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.

More in depth details are given in "PolRegis.hh".

public BaseRegisHC

PolRegisHC(PolopsC & fixPol,VectorSetC & movPts,VectorSetC & movNmls,const int & npoints = 200,const int & trace = 0)

Constructor

fixPol	IN: The fixed object
movPts	IN: Points on the moveable object
movNmls	IN: Normals on the moveable object
npoints	IN: Number of random points on moveable
trace	IN: 1 = Detailed prints & saves data
	0 = No prints, no savings

PolRegisHC(PolopsC & fixPol,PolopsC & movPol,const int & npoints = 200,const int & trace = 0,const int & inputRandomNum = -1)

Constructor

fixPol	IN: The fixed object
movPol	IN: The moveable object
npoints	IN: Number of random points on moveable
trace	IN: 1 = Detailed prints & saves data
	0 = No prints, no savings
inputRandomNum	IN: Input number for PolopRanC

Take npoints of points from movPol which are random and stores in startMovPoints (defined in BaseRegisC)

PolRegisHC(PolopsC & fixPol,VectorSetC & movPts,const int & trace)

Constructor

fixPol	IN: The fixed object
movPpts	IN: Points from the moveable object
trace	IN: 1 = Detailed prints & saves data
	0 = No prints, no savings

NB 1: No random sampling is performed. This is assummed to have already been done, since this constructor is used in conjunction with a .vec file.

NB 2: Since the input was from a .vec file, there are no normals associated with each point. Hence DO NOT USE SetNormalCheck()!!!! Otherwise unpredictable behaviour will occur!

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 = 70)

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

BooleanT IsValid() const

Check its a valid handle.

BooleanT IsValidObject() const

Check its a valid handle, and that the object is pointed to is also valid.

RCHandleC<BaseRegisC> & operator=(const RCHandleC<BaseRegisC> & oth)

Assignment.

BooleanT operator==(const RCHandleC<BaseRegisC> & oth) const

Comparison operator.

BooleanT operator!=(const RCHandleC<BaseRegisC> & oth) const

Comparison operator.

UIntT Hash() const

Hash function.x

BooleanT IsConst() const

Is object constant ?

BooleanT IsNotConst() const

Is object not constant ?

void SetConst(void) const

Lock the object.
This is const as a convience though it actual modified the object, often object you wish to ensure are constant already have const set. protected:

void Invalidate()

Turn this into an invalid handle.

BaseRegisC & Body()

Direct access to body.

const BaseRegisC & Body() const

Constant access to body.