Home > vbmeg > functions > common > coordinate > vb_calc_fitting.m

vb_calc_fitting

PURPOSE ^

Calculate min distance for transformed points

SYNOPSIS ^

function dmin = vb_calc_fitting(para, V0, Vref, parm)

DESCRIPTION ^

 Calculate min distance for transformed points

   dmin = vb_calc_fitting(para, V0, Vref, parm)
 --- Input
 para : [ dX ; th ] rigid body transformation parameter (6x1 vector)
   dX : Translation parameter of 3 directions        (3x1 vector)
   th : Rotation angle around x, y, z axis [radian]  (3x1 vector) 
 V0   : transformed point set 
 Vref : reference points
 parm : parameters
     .Rmax = first search radius
     .Npos = # of head points
     .pos_rate = distance weight for head points vs face points
 --- Output
 dmin = Min distance from rigid-transformed 'V0' to reference point set 'Vref'

 Copyright (C) 2011, ATR All Rights Reserved.
 License : New BSD License(see VBMEG_LICENSE.txt)

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function    dmin = vb_calc_fitting(para, V0, Vref, parm)
0002 % Calculate min distance for transformed points
0003 %
0004 %   dmin = vb_calc_fitting(para, V0, Vref, parm)
0005 % --- Input
0006 % para : [ dX ; th ] rigid body transformation parameter (6x1 vector)
0007 %   dX : Translation parameter of 3 directions        (3x1 vector)
0008 %   th : Rotation angle around x, y, z axis [radian]  (3x1 vector)
0009 % V0   : transformed point set
0010 % Vref : reference points
0011 % parm : parameters
0012 %     .Rmax = first search radius
0013 %     .Npos = # of head points
0014 %     .pos_rate = distance weight for head points vs face points
0015 % --- Output
0016 % dmin = Min distance from rigid-transformed 'V0' to reference point set 'Vref'
0017 %
0018 % Copyright (C) 2011, ATR All Rights Reserved.
0019 % License : New BSD License(see VBMEG_LICENSE.txt)
0020 
0021 Npoint = size(V0,1);
0022 Npos   = parm.Npos;
0023 
0024 if  Npos == 0 | Npos == Npoint
0025     dmin = vb_distance_min3d( Vref, vb_rigid_transform(V0, para) , parm.Rmax );
0026 else
0027     dmin1 = vb_distance_min3d( Vref, ...
0028                vb_rigid_transform(V0(1:Npos,:), para) , parm.Rmax );
0029     dmin2 = vb_distance_min3d( Vref, ...
0030                vb_rigid_transform(V0(Npos+1:end,:), para) , parm.Rmax );
0031                
0032     dmin = parm.pos_rate * dmin1 + parm.scan_rate * dmin2;
0033 end
0034 
0035 pause(1/1000); % pause(sec): The chance to cancel is given to MATLAB.

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