You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
49 lines
1.4 KiB
49 lines
1.4 KiB
1 year ago
|
// This file is part of libigl, a simple c++ geometry processing library.
|
||
|
|
//
|
||
|
|
// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
|
||
|
|
//
|
||
|
|
// This Source Code Form is subject to the terms of the Mozilla Public License
|
||
|
|
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
|
||
|
|
// obtain one at http://mozilla.org/MPL/2.0/.
|
||
|
|
#ifndef RIGID_ALIGNMENT_H
|
||
|
|
#define RIGID_ALIGNMENT_H
|
||
|
|
#include "igl_inline.h"
|
||
|
|
#include <Eigen/Core>
|
||
|
|
|
||
|
|
namespace igl
|
||
|
|
{
|
||
|
|
/// Find the rigid transformation that best aligns the 3D points X to their
|
||
|
|
/// corresponding points P with associated normals N.
|
||
|
|
///
|
||
|
|
/// min ‖(X*R+t-P)'N‖²
|
||
|
|
/// R∈SO(3)
|
||
|
|
/// t∈R³
|
||
|
|
///
|
||
|
|
/// @param[in] X #X by 3 list of query points
|
||
|
|
/// @param[in] P #X by 3 list of corresponding (e.g., closest) points
|
||
|
|
/// @param[in] N #X by 3 list of unit normals for each row in P
|
||
|
|
/// @param[out] R 3 by 3 rotation matrix
|
||
|
|
/// @param[out] t 1 by 3 translation vector
|
||
|
|
///
|
||
|
|
/// \see icp
|
||
|
|
template <
|
||
|
|
typename DerivedX,
|
||
|
|
typename DerivedP,
|
||
|
|
typename DerivedN,
|
||
|
|
typename DerivedR,
|
||
|
|
typename Derivedt
|
||
|
|
>
|
||
|
|
IGL_INLINE void rigid_alignment(
|
||
|
|
const Eigen::MatrixBase<DerivedX> & X,
|
||
|
|
const Eigen::MatrixBase<DerivedP> & P,
|
||
|
|
const Eigen::MatrixBase<DerivedN> & N,
|
||
|
|
Eigen::PlainObjectBase<DerivedR> & R,
|
||
|
|
Eigen::PlainObjectBase<Derivedt> & t);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifndef IGL_STATIC_LIBRARY
|
||
|
|
# include "rigid_alignment.cpp"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|