AlignmentResult2D Class Reference

A set of parameters that stores the result of alignment operation. More...

#include <cvb/foundation/curve.hpp>

Public Member Functions
const Matrix2D &	Rotation () const noexcept
	Gets the estimated rotation. More...
const Vector2D< double > &	Translation () const noexcept
	Gets the estimated translation. More...
double	MeanDistance () const noexcept
	Gets the minimum value for correspondence of two points to be considered for alignment. More...
size_t	NumIterations () const noexcept
	Gets the number of iterations needed for alignment. More...

Friends
AlignmentResult2D	AlignCurve (const std::vector< Point2D< double > > &, const std::vector< Point2D< double > > &, const AlignmentConfiguration &)
	Aligns two 2D curves via an iterative closest point method considering consensus correspondence for better shape alignment. More...

Detailed Description

A set of parameters that stores the result of alignment operation.

Member Function Documentation

MeanDistance()

double MeanDistance ( ) const

inlinenoexcept

Gets the minimum value for correspondence of two points to be considered for alignment.

Returns

The minimum value for correspondence of two points to be considered for alignment.

Exceptions

Does	not throw any exception.

NumIterations()

size_t NumIterations ( ) const

inlinenoexcept

Gets the number of iterations needed for alignment.

Returns

The number of iterations needed for alignment.

Exceptions

Does	not throw any exception.

Rotation()

const Matrix2D & Rotation ( ) const

inlinenoexcept

Gets the estimated rotation.

Returns

The estimated rotation.

Exceptions

Does	not throw any exception.

Translation()

const Vector2D< double > & Translation ( ) const

inlinenoexcept

Gets the estimated translation.

Returns

The estimated translation.

Exceptions

Does	not throw any exception.

Friends And Related Function Documentation

AlignCurve

AlignmentResult2D AlignCurve ( const std::vector< Point2D< double > > &  curve, const std::vector< Point2D< double > > &  curveToBeAligned, const AlignmentConfiguration &  config = AlignmentConfiguration()  )

friend

Aligns two 2D curves via an iterative closest point method considering consensus correspondence for better shape alignment.

Parameters

[in]	curve	Reference curve.
[in]	curveToBeAligned	Curve to be aligned to curve.
[in]	config	Configuration of alignment.

Returns

Alignment result.

Exceptions

Any	exception derived from std::exception including CvbException.

The method used here is a version of the ICP (iterative closest point) method. It uses a consensus metric to find the correspondence between points to stabilize the iterations needed in the alignment method. It supports only rigid transformations for the alignment.

If not enough points within a given consens are found a classical ICP step is performed by finding correspondences solely based on nearest neighbours without any feasibility check.