maspack.numerics

Class RigidPoseEstimator

java.lang.Object

maspack.numerics.RigidPoseEstimator

public class RigidPoseEstimator
extends java.lang.Object

Estimates rigid transformations from point data. The class is initialized with 3 or more points in local coordinates, and then estimates transforms when given the sames points in world coordinates.

The algorithm is the same as the SVD algorithm given in D.W. Eggert, A. Lorusso, R.B. Fischer, ``Estimating 3-D rigid body transformations: a comparisonof four major algorithms'', Machine Vision and Applications (1997) 9: 272–290.

Constructor Summary

Constructors

Constructor and Description
RigidPoseEstimator()
RigidPoseEstimator(java.util.Collection<? extends Vector3d> lpoints)

Method Summary

Modifier and Type	Method and Description
void	estimatePose(RigidTransform3d T, java.util.List<? extends Vector3d> wpoints) Estimates the transform from local to world coordinates given the corresponding point positions in world coordinates.
void	estimatePose(RigidTransform3d T, VectorNd wpositions) Estimates the transform from local to world coordinates given the corresponding point positions in world coordinates.
void	setLocalPoints(java.util.Collection<? extends Vector3d> lpoints) Sets the local points for this estimator.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RigidPoseEstimator

public RigidPoseEstimator()

RigidPoseEstimator

public RigidPoseEstimator(java.util.Collection<? extends Vector3d> lpoints)

Method Detail

setLocalPoints

public void setLocalPoints(java.util.Collection<? extends Vector3d> lpoints)

Sets the local points for this estimator.

Parameters:

lpoints - collection of local points

estimatePose

public void estimatePose(RigidTransform3d T,
                         VectorNd wpositions)

Estimates the transform from local to world coordinates given the corresponding point positions in world coordinates. These are specified as a single vector of length 3*nump, where nump is the number of points.

Parameters:

T - returns the transform

wpositions - world point positions given as a single vector

estimatePose

public void estimatePose(RigidTransform3d T,
                         java.util.List<? extends Vector3d> wpoints)

Estimates the transform from local to world coordinates given the corresponding point positions in world coordinates.

Parameters:

T - returns the transform

wpoints - collection of world points