Back to Aurora Vision Library website
You are here: Start » Function Reference » Point3DGrid » Point3DGrid Fitting » AdjustPointGrids3DGlobal
AdjustPointGrids3DGlobal
Header: | AVL.h |
---|---|
Namespace: | avl |
Module: | Vision3DStandard |
Aligns (rotation + translation) a point grid to match best the reference point grid using a global registration algorithm.
Syntax
C++
C#
void avl::AdjustPointGrids3DGlobal ( const avl::Point3DGrid& inPoints, const avl::Point3DGrid& inReferencePoints, const int inSampleCount, const float inOverlap, const float inDeltaCorrection, atl::Optional<const avl::TransformLimits3D&> inTransformLimits3D, atl::Optional<const float&> inMaxTranslationDistance, atl::Optional<const int&> inSeed, avl::Point3DGrid& outAlignedPoints, avl::Matrix& outAlignment, float& outDelta )
Parameters
Name | Type | Range | Default | Description | |
---|---|---|---|---|---|
inPoints | const Point3DGrid& | Data points to be aligned, may contain background clutter. | |||
inReferencePoints | const Point3DGrid& | Reference points to align to, may contain background clutter. | |||
inSampleCount | const int | 1 - | 500 | Number of random samples used by the registration algorithm. Recommended values are from 200 to several thousands. | |
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). | |
inDeltaCorrection | const float | 0.0 - | 9.3f | Defines the accuracy of the final alignment. With smaller delta the amount of allocated memory increases. | |
inTransformLimits3D | Optional<const TransformLimits3D&> | NIL | Limits the maximum rotation angles and translation along each axis, of the final transform. | ||
inMaxTranslationDistance | Optional<const float&> | 0.0 - | NIL | Limits the length of the translation vector of the final transform. | |
inSeed | Optional<const int&> | NIL | Seed for a random generator used by the algorithm. | ||
outAlignedPoints | Point3DGrid& | The aligned input points. | |||
outAlignment | Matrix& | The transform that aligns best the input points to the reference points. | |||
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. |