茂之钳
142 lines
14 KiB
HTML
142 lines
14 KiB
HTML
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
|
|
<meta name="generator" content="Doxygen 1.9.1"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>ViewDesignEngine: include/vde/core/icp.h 源文件</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr style="height: 56px;">
|
|
<td id="projectalign" style="padding-left: 0.5em;">
|
|
<div id="projectname">ViewDesignEngine
|
|
 <span id="projectnumber">3.1.0</span>
|
|
</div>
|
|
<div id="projectbrief">高性能 CAD 计算几何引擎</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- 制作者 Doxygen 1.9.1 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
|
|
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','搜索');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */</script>
|
|
<div id="main-nav"></div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
|
|
$(document).ready(function(){initNavTree('icp_8h_source.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<iframe src="javascript:void(0)" frameborder="0"
|
|
name="MSearchResults" id="MSearchResults">
|
|
</iframe>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="headertitle">
|
|
<div class="title">icp.h</div> </div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
<a href="icp_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div>
|
|
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="point_8h.html">vde/core/point.h</a>"</span></div>
|
|
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "<a class="code" href="transform_8h.html">vde/core/transform.h</a>"</span></div>
|
|
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <vector></span></div>
|
|
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
|
|
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="keyword">namespace </span><a class="code" href="namespacevde_1_1core.html">vde::core</a> {</div>
|
|
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">using</span> <a class="code" href="namespacevde_1_1foundation.html#a1f8d721ed8c88d2b5716941d311f5945">foundation::Point2D</a>;</div>
|
|
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keyword">using</span> <a class="code" href="namespacevde_1_1foundation.html#a5897423053feaa32d249be526e9a1850">foundation::Point3D</a>;</div>
|
|
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keyword">using</span> <a class="code" href="namespacevde_1_1foundation.html#a997ef9bce9ebd80c36265e7422130377">foundation::Vector2D</a>;</div>
|
|
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keyword">using</span> <a class="code" href="namespacevde_1_1foundation.html#aadf8ec8e9fa6d19c8a443a83b89534b7">foundation::Vector3D</a>;</div>
|
|
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
|
|
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structvde_1_1core_1_1ICPResult.html"> 19</a></span> <span class="keyword">struct </span><a class="code" href="structvde_1_1core_1_1ICPResult.html">ICPResult</a> {</div>
|
|
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structvde_1_1core_1_1ICPResult.html#a642816a0c6a5276a72e218d9e5f06912"> 21</a></span>  <a class="code" href="group__core.html#ga1d6b7ffb62cc56245fac3b5939f0df80">Transform3D</a> <a class="code" href="structvde_1_1core_1_1ICPResult.html#a642816a0c6a5276a72e218d9e5f06912">transform</a>;</div>
|
|
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
|
|
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structvde_1_1core_1_1ICPResult.html#a11f8d2aff77a61ae620966e5307c24f4"> 28</a></span>  <span class="keywordtype">double</span> <a class="code" href="structvde_1_1core_1_1ICPResult.html#a11f8d2aff77a61ae620966e5307c24f4">rms_error</a>;</div>
|
|
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
|
|
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structvde_1_1core_1_1ICPResult.html#ab8b20fd1266c818e5ef2aa7eea049a13"> 31</a></span>  <span class="keywordtype">int</span> <a class="code" href="structvde_1_1core_1_1ICPResult.html#ab8b20fd1266c818e5ef2aa7eea049a13">iterations</a>;</div>
|
|
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
|
|
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structvde_1_1core_1_1ICPResult.html#ab5ca7b8b9d29d53974eb00c6354580f6"> 34</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structvde_1_1core_1_1ICPResult.html#ab5ca7b8b9d29d53974eb00c6354580f6">converged</a>;</div>
|
|
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> };</div>
|
|
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
|
|
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="group__core.html#gabaf3dea80baf0c0ef81e5de25841e8e0"> 68</a></span> [[nodiscard]] <a class="code" href="structvde_1_1core_1_1ICPResult.html">ICPResult</a> <a class="code" href="group__core.html#gabaf3dea80baf0c0ef81e5de25841e8e0">icp_register</a>(<span class="keyword">const</span> std::vector<Point3D>& source,</div>
|
|
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">const</span> std::vector<Point3D>& target,</div>
|
|
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordtype">int</span> max_iter = 50,</div>
|
|
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">double</span> tolerance = 1e-6);</div>
|
|
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
|
|
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> } <span class="comment">// namespace vde::core</span></div>
|
|
<div class="ttc" id="agroup__core_html_ga1d6b7ffb62cc56245fac3b5939f0df80"><div class="ttname"><a href="group__core.html#ga1d6b7ffb62cc56245fac3b5939f0df80">vde::core::Transform3D</a></div><div class="ttdeci">Eigen::Transform< double, 3, Eigen::Affine > Transform3D</div><div class="ttdoc">三维仿射变换类型</div><div class="ttdef"><b>Definition:</b> <a href="transform_8h_source.html#l00015">transform.h:15</a></div></div>
|
|
<div class="ttc" id="agroup__core_html_gabaf3dea80baf0c0ef81e5de25841e8e0"><div class="ttname"><a href="group__core.html#gabaf3dea80baf0c0ef81e5de25841e8e0">vde::core::icp_register</a></div><div class="ttdeci">ICPResult icp_register(const std::vector< Point3D > &source, const std::vector< Point3D > &target, int max_iter=50, double tolerance=1e-6)</div><div class="ttdoc">迭代最近点（ICP）刚体点云配准</div></div>
|
|
<div class="ttc" id="anamespacevde_1_1core_html"><div class="ttname"><a href="namespacevde_1_1core.html">vde::core</a></div><div class="ttdef"><b>Definition:</b> <a href="aabb_8h_source.html#l00006">aabb.h:6</a></div></div>
|
|
<div class="ttc" id="anamespacevde_1_1foundation_html_a1f8d721ed8c88d2b5716941d311f5945"><div class="ttname"><a href="namespacevde_1_1foundation.html#a1f8d721ed8c88d2b5716941d311f5945">vde::foundation::Point2D</a></div><div class="ttdeci">Point< double, 2 > Point2D</div><div class="ttdoc">双精度二维点</div><div class="ttdef"><b>Definition:</b> <a href="math__types_8h_source.html#l00041">math_types.h:41</a></div></div>
|
|
<div class="ttc" id="anamespacevde_1_1foundation_html_a5897423053feaa32d249be526e9a1850"><div class="ttname"><a href="namespacevde_1_1foundation.html#a5897423053feaa32d249be526e9a1850">vde::foundation::Point3D</a></div><div class="ttdeci">Point< double, 3 > Point3D</div><div class="ttdoc">双精度三维点</div><div class="ttdef"><b>Definition:</b> <a href="math__types_8h_source.html#l00043">math_types.h:43</a></div></div>
|
|
<div class="ttc" id="anamespacevde_1_1foundation_html_a997ef9bce9ebd80c36265e7422130377"><div class="ttname"><a href="namespacevde_1_1foundation.html#a997ef9bce9ebd80c36265e7422130377">vde::foundation::Vector2D</a></div><div class="ttdeci">Vector< double, 2 > Vector2D</div><div class="ttdoc">双精度二维向量</div><div class="ttdef"><b>Definition:</b> <a href="math__types_8h_source.html#l00053">math_types.h:53</a></div></div>
|
|
<div class="ttc" id="anamespacevde_1_1foundation_html_aadf8ec8e9fa6d19c8a443a83b89534b7"><div class="ttname"><a href="namespacevde_1_1foundation.html#aadf8ec8e9fa6d19c8a443a83b89534b7">vde::foundation::Vector3D</a></div><div class="ttdeci">Vector< double, 3 > Vector3D</div><div class="ttdoc">双精度三维向量</div><div class="ttdef"><b>Definition:</b> <a href="math__types_8h_source.html#l00055">math_types.h:55</a></div></div>
|
|
<div class="ttc" id="apoint_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
|
|
<div class="ttc" id="astructvde_1_1core_1_1ICPResult_html"><div class="ttname"><a href="structvde_1_1core_1_1ICPResult.html">vde::core::ICPResult</a></div><div class="ttdoc">ICP（迭代最近点）配准结果</div><div class="ttdef"><b>Definition:</b> <a href="icp_8h_source.html#l00019">icp.h:19</a></div></div>
|
|
<div class="ttc" id="astructvde_1_1core_1_1ICPResult_html_a11f8d2aff77a61ae620966e5307c24f4"><div class="ttname"><a href="structvde_1_1core_1_1ICPResult.html#a11f8d2aff77a61ae620966e5307c24f4">vde::core::ICPResult::rms_error</a></div><div class="ttdeci">double rms_error</div><div class="ttdoc">配准后的均方根误差</div><div class="ttdef"><b>Definition:</b> <a href="icp_8h_source.html#l00028">icp.h:28</a></div></div>
|
|
<div class="ttc" id="astructvde_1_1core_1_1ICPResult_html_a642816a0c6a5276a72e218d9e5f06912"><div class="ttname"><a href="structvde_1_1core_1_1ICPResult.html#a642816a0c6a5276a72e218d9e5f06912">vde::core::ICPResult::transform</a></div><div class="ttdeci">Transform3D transform</div><div class="ttdoc">将 source 对齐到 target 的刚体变换</div><div class="ttdef"><b>Definition:</b> <a href="icp_8h_source.html#l00021">icp.h:21</a></div></div>
|
|
<div class="ttc" id="astructvde_1_1core_1_1ICPResult_html_ab5ca7b8b9d29d53974eb00c6354580f6"><div class="ttname"><a href="structvde_1_1core_1_1ICPResult.html#ab5ca7b8b9d29d53974eb00c6354580f6">vde::core::ICPResult::converged</a></div><div class="ttdeci">bool converged</div><div class="ttdoc">是否在达到最大迭代次数前收敛</div><div class="ttdef"><b>Definition:</b> <a href="icp_8h_source.html#l00034">icp.h:34</a></div></div>
|
|
<div class="ttc" id="astructvde_1_1core_1_1ICPResult_html_ab8b20fd1266c818e5ef2aa7eea049a13"><div class="ttname"><a href="structvde_1_1core_1_1ICPResult.html#ab8b20fd1266c818e5ef2aa7eea049a13">vde::core::ICPResult::iterations</a></div><div class="ttdeci">int iterations</div><div class="ttdoc">实际使用的迭代次数</div><div class="ttdef"><b>Definition:</b> <a href="icp_8h_source.html#l00031">icp.h:31</a></div></div>
|
|
<div class="ttc" id="atransform_8h_html"><div class="ttname"><a href="transform_8h.html">transform.h</a></div></div>
|
|
</div><!-- fragment --></div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_36dfe8171299c47a6036082559f11ede.html">vde</a></li><li class="navelem"><a class="el" href="dir_a2c987643919849416f7102811df097e.html">core</a></li><li class="navelem"><a class="el" href="icp_8h.html">icp.h</a></li>
|
|
<li class="footer">生成于 2026年 七月 24日 星期五 11:21:23 , 为 ViewDesignEngine使用 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|