// ----------------------------------------------------------------------------- // ********************************* SchmittC ********************************** // ----------------------------------------------------------------------------- // //! file="amma/Surf3d/Regis/Schmitt.hh" //! author = "Simon Cunnington" //! date = "19/11/98" //! userlevel = Normal //! lib=Regis //! rcsid = "$Id: Schmitt.hh,v 1.6 2000/02/16 14:13:07 ees1cg Exp $" //! docentry = "3D Surface.Registration" // Synopsis : Performs N Point Set Registration Using Schmitt's Method // ----------------------------------------------------------------------------- // // Authors : Simon Cunnington // // Current Details : // // $RCSfile: Schmitt.hh,v $ // $Revision: 1.6 $ // $Author: ees1cg $ modified this file on $Date: 2000/02/16 14:13:07 $ // // // Copyright (C) 1998-1999 University of Surrey, UK. All Rights Reserved. // // The copyright to the computer program(s) herein is the property of the // University of Surrey, UK. The program(s) may be used and/or copied only // with the written permission of the University of Surrey or in accordance // with the terms and conditions stipulated in the agreement/contract under // which the program(s) have been supplied. This copyright notice must not be // removed. // #ifndef SCHMITT_HH #define SCHMITT_HH #include "amma/CorrSet.hh" #include "amma/RigidT.hh" #include "amma/Matrix.hh" #include "amma/Array2d.hh" #include "amma/VecSet.hh" //----------------------------------------------------------------------------// //----------------------------------------------------------------------------// enum enumXYZ { x, y, z}; //----------------------------------------------------------------------------// //----------------------------------------------------------------------------// // ----------------------------------------------------------------------------- // ********** SchmittC ***************************************************** // ----------------------------------------------------------------------------- // //: The SchmittC class registers N point sets using Schmitt's method. // //

// 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. //

// class SchmittC { /* MEMBER FUNCTIONS */ /* ---------------- */ public : /* Constructors & Destructors */ /* -------------------------- */ SchmittC(CorrSetC corrset, SArray1dC rtguesses, double rmsthresh=0.99, int trace=0, int miniter=-1, int maxiter=1000); //: Constructor. The Guesses that are passed are used to setup rtsM. //: They are not applied to each view. // // The expected RTs are to be set by using SetExpectedRTs. // However they are defaulted to Null Transforms! ~SchmittC(void); //: Destructor. /* Expected RTs */ /* ------------ */ void SetExpectedRTs(SArray1dC expectedrts); //: Used to set the expected RTs. /* Main Function */ /* ------------- */ SArray1dC Solve(void); //: The main function which determines the optimal Rigid Transforms //: for each view. protected : /* EigenVector */ /* ----------- */ VectorC CalcEigenVector(MatrixC &nJ); //: Determines eigenvectors & eigenvalues for nJ, and returns //: the eigenvector that has the highest eigenvalue. /* To Determine Convergence */ /* ------------------------ */ double CalcMSE(void); //: Calculates the Mean Square Error. BooleanT Converged(int iteration); //: Determines whether convergence has occurred. /* Matrice Calculations */ /* -------------------- */ void CreateABarMatrices(void); //: Creates the matrix "A bar" and it's inverse, and the fudge //: (with extra column & row with 0's in). // // Sticking to Schmitt's notation. // // This should be called only once at the beginning. void RecalculateBBar(void); //: Recalculates the matrix "B bar". void CalculatePBar(void); //: Calculates the matrix "P bar". void RecalculateXBarMin(void); //: Recalculates the matrix "X bar min", i.e. translations. void RecalculateQr(int alpha, int beta, MatrixC &qR); //: Recalculates the matrix "Qr". double CalculateS(int alpha, int beta, enumXYZ index1, enumXYZ index2); //: Calculates S with indices of xx, yy, zz or any combination. //: To be used by RecalculateQr() only! void RecalculateQt(int alpha, int beta, MatrixC &qT); //: Recalculates the matrix "Qt". double CalculateSBar(int alpha, int beta, enumXYZ index1, enumXYZ index2); //: Calculates S Bar with indices of xx, yy, zz or any combination. //: To be used by RecalculateQt() only! void RecalculateNj(int j, MatrixC &nJ); //: Calculates N^j, which is used to determine the optimal quaternion //: for the view j. void CreateAllQMatrices(void); //: Creates an array of 4x4 Symmetrical Matrices, indexed by //: alpha & beta, where each element is Qr + Qt. /* MEMBER DATA */ /* ----------- */ protected : /* Correspondence Set Info */ /* ----------------------- */ int nviewsM; // The total number of views. int ncsetsM; // The total number of correspondence sets. CorrSetC corrsetM; // Correspondence sets, with member functions // which for example can apply an RT per view SArray1dC csetsM; // Handle to correspondence sets, // ie. csetsM = corrsetM.csetsM; /* Rigid Transforms */ /* ---------------- */ SArray1dC rtsM; // Transforms associated with each view. SArray1dC qtsM; // Quaternions associated with each view. /* Matrices etc. Used In Algorithm */ /* ------------------------------- */ Array2dC lookupM; // Look Up Table: Each element contains the // point set alpha beta. MatrixC aBarInverseM; // _-1 // Matrix A . // // Note: indexing [0][0] == [alpha+1][beta+1] MatrixC aBarInvPaddedM; // This has an extra column & row with 0's in. Array2dC pBarM; // Contains centroids for point set alpha beta. VectorSetC bBarM; // _ : Contains differences between rotated // B : centroids of the overlaps. // // Note: bBarM[0] == bBarM[alpha+1] VectorSetC xBarMinM; // Contains the translations. // // Note: xBarMinM[0] == xBarMinM[alpha+1] Array2dC qM; // Array of 4x4 Symmetrical Matrices, indexed by // alpha & beta, where each element is Qr + Qt /* Expected RTs */ /* ------------ */ SArray1dC rtsexpectedM; // RTs expected (inverses of guesses) /* Constants */ /* --------- */ /* Options */ const double RmsThreshM; // Used in convergence test const int traceM; // Trace: 0->no trace, 1->basic, 2->full const int minIterationsM; // Termination criteria is not used until the // minimum number of iterations has been done. const int maxIterationsM; // Maximum number of iterations allowed. const double NearZeroM; // Used for equal to zero tests }; #endif