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.
 
 
 

50 lines
1.4 KiB

// 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
//
// Inputs:
// X #X by 3 list of query points
// P #X by 3 list of corresponding (e.g., closest) points
// N #X by 3 list of unit normals for each row in P
// Outputs:
// R 3 by 3 rotation matrix
// t 1 by 3 translation vector
//
// See also: 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