icp.h File Reference

ICP declarations. More...

#include "rtprocessing_global.h"
#include <QSharedPointer>
#include <Eigen/Core>

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Functions
RTPROCESINGSHARED_EXPORT bool	RTPROCESSINGLIB::performIcp (const QSharedPointer< MNELIB::MNEProjectToSurface > mneSurfacePoints, const Eigen::MatrixXf &matPointCloud, FIFFLIB::FiffCoordTrans &transFromTo, float &fRMSE, bool bScale=false, int iMaxIter=20, float fTol=0.001, const Eigen::VectorXf &vecWeitgths=vecDefaultWeigths)
RTPROCESINGSHARED_EXPORT bool	RTPROCESSINGLIB::fitMatchedPoints (const Eigen::MatrixXf &matSrcPoint, const Eigen::MatrixXf &matDstPoint, Eigen::Matrix4f &matTrans, float fScale=1.0, bool bScale=false, const Eigen::VectorXf &vecWeitgths=vecDefaultWeigths)
RTPROCESINGSHARED_EXPORT bool	RTPROCESSINGLIB::discard3DPointOutliers (const QSharedPointer< MNELIB::MNEProjectToSurface > mneSurfacePoints, const Eigen::MatrixXf &matPointCloud, const FIFFLIB::FiffCoordTrans &transFromTo, Eigen::VectorXi &vecTake, Eigen::MatrixXf &matTakePoint, float fMaxDist=0.0)

Variables
const Eigen::VectorXf	RTPROCESSINGLIB::vecDefaultWeigths

Detailed Description

ICP declarations.

Author

Ruben Dörfel doerf.nosp@m.elru.nosp@m.ben@a.nosp@m.ol.c.nosp@m.om

Since

0.1.5

Date

July, 2020

LICENSE

Copyright (C) 2020, Ruben Dörfel. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of MNE-CPP authors nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file icp.h.

Function Documentation

discard3DPointOutliers()

RTPROCESINGSHARED_EXPORT bool RTPROCESSINGLIB::discard3DPointOutliers	(	const QSharedPointer< MNELIB::MNEProjectToSurface >	mneSurfacePoints,
		const Eigen::MatrixXf &	matPointCloud,
		const FIFFLIB::FiffCoordTrans &	transFromTo,
		Eigen::VectorXi &	vecTake,
		Eigen::MatrixXf &	matTakePoint,
		float	fMaxDist = 0.0
	)

Discard outliers compared to a given 3D surface

Parameters

[in]	mneSurfacePoints	The MNEProjectToSurface object that contains the surface triangles etc. (To).
[in]	matPointCloud	The destination point set to be registrated (From).
[in,out]	transFromTo	The forward transformation matrix.
[in]	vecTake	The index of taken digitizers.
[in]	matTakePoint	The the digitizer points to take.
[in]	fMaxDist	The maximum distance to the surface in mm, defaults to 0 mm.

Returns

Wether the discarding was succesfull.

fitMatchedPoints()

RTPROCESINGSHARED_EXPORT bool RTPROCESSINGLIB::fitMatchedPoints	(	const Eigen::MatrixXf &	matSrcPoint,
		const Eigen::MatrixXf &	matDstPoint,
		Eigen::Matrix4f &	matTrans,
		float	fScale = 1.0,
		bool	bScale = false,
		const Eigen::VectorXf &	vecWeitgths = vecDefaultWeigths
	)

Corresponding point set registration using quaternions.

Parameters

[in]	matSrcPoint	The source point set.
[in]	matDstPoint	The destination point set.
[in,out]	matTrans	The forward transformation matrix.
[in,out]	fScale	The scaling parameter, defaults to 1.0.
[in]	bScale	Wether to apply scaling or not. Should be false for matching data sets, defaults to false.
[in]	vecWeitgths	The weitghts to apply , defaults to zeros.

Returns

Wether the matching was succesfull.

performIcp()

RTPROCESINGSHARED_EXPORT bool RTPROCESSINGLIB::performIcp	(	const QSharedPointer< MNELIB::MNEProjectToSurface >	mneSurfacePoints,
		const Eigen::MatrixXf &	matPointCloud,
		FIFFLIB::FiffCoordTrans &	transFromTo,
		float &	fRMSE,
		bool	bScale = false,
		int	iMaxIter = 20,
		float	fTol = 0.001,
		const Eigen::VectorXf &	vecWeitgths = vecDefaultWeigths
	)

The ICP algorithm to register a point cloud with a surface.

Parameters

[in]	mneSurfacePoints	The MNEProjectToSurface object that contains the surface triangles etc. (To).
[in]	matPointCloud	The point cloud to be registrated (From).
[in,out]	transFromTo	The forward transformation matrix. It can contain an initial transformatin (e.g. from fiducial alignment).
[in,out]	fRMSE	The resulting Root-Mean-Square-Error in m.
[in]	bScale	Wether to apply scaling or not. Should be false for matching data sets, defaults to false.
[in]	iMaxIter	The maximum number of iterations for the icp algorithms, defaults to 20.
[in]	fTol	The destination point set to be reistrated, defaults to 0.001.
[in]	vecWeitgths	The weitghts to apply, defaults to zeros.

Returns

Wether the registration was succesfull.