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AdjustPointGrids3DGlobal


Header: FIL.h
Namespace: fil
Module: Vision3DStandard

Aligns (rotation + translation) a point grid to match best the reference point grid using a global registration algorithm.

Syntax

C++
C#
 
void fil::AdjustPointGrids3DGlobal
(
	const fil::Point3DGrid& inPoints,
	const fil::Point3DGrid& inReferencePoints,
	const int inSampleCount,
	const float inOverlap,
	const float inDeltaCorrection,
	ftl::Optional<const float&> inMaxAngle,
	ftl::Optional<const float&> inMaxTranslationDistance,
	ftl::Optional<const int&> inSeed,
	fil::Point3DGrid& outAlignedPoints,
	fil::Matrix& outAlignment,
	float& outDelta
)

Parameters

Name Type Range Default Description
Input value
 inPoints const Point3DGrid& Data points to be aligned, may contain background clutter.
Input value
 inReferencePoints const Point3DGrid& Reference points to align to, may contain background clutter.
Input value
 inSampleCount const int 1 - 500 Number of random samples used by the registration algorithm. Recommended values are from 200 to several thousands.
Input value
 inOverlap const float 0.0 - 1.0 0.8f Defines the estimated overlap between two input grids (0 = no overlap, 1.0 = every point in inPoints is also in inReferencePoints).
Input value
 inDeltaCorrection const float 0.0 - 9.3f Defines the accuracy of the final alignment. With smaller delta the amount of allocated memory increases.
Input value
 inMaxAngle Optional<const float&> 0.0 - 360.0 NIL Limits the maximum rotation angle of the final transform.
Input value
 inMaxTranslationDistance Optional<const float&> 0.0 - NIL Limits the length of the translation vector of the final transform.
Input value
 inSeed Optional<const int&> NIL Seed for a random generator used by the algorithm.
Output value
 outAlignedPoints Point3DGrid& The aligned input points.
Output value
 outAlignment Matrix& The transform that aligns best the input points to the reference points.
Output value
 outDelta float& Returns estimated value of the parameter delta.

Errors

List of possible exceptions:

Error type Description
DomainError Input point array is empty in AdjustPointGrids3DGlobal.
DomainError Parameter inDeltaCorrection in AdjustPointGrids3DGlobal has to be greater than 0.0.