Cvb::Match3D Namespace Reference

Namespace for matching 3D components. More...

Classes
class	MatchingParameters
	A parameter set for matching and down sampling point clouds. More...
class	MatchingResult
	Results of a matching and down sampling operation. More...

Functions
MatchingResult	MatchDownsampledPointClouds (const PointCloud &model, const PointCloud &scene, const MatchingParameters &parameters)
	This function matches two point clouds. More...
double	DistanceRMS (const PointCloud &model, const PointCloud &scene)
	Approximates the root mean square of distances between two point clouds. More...

Detailed Description

Namespace for matching 3D components.

Online Manual

Common Vision Blox-Tool Match3D

Remarks

CMake users: Link to imported target CVB::CvbMatch3D

Function Documentation

DistanceRMS()

double DistanceRMS ( const PointCloud &  model, const PointCloud &  scene  )

inline

Approximates the root mean square of distances between two point clouds.

Parameters

[in]	model	First point cloud.
[in]	scene	Second point cloud.

Returns

The distance.

Exceptions

Any	exception derived from std::exception including CvbException.

MatchDownsampledPointClouds()

MatchingResult MatchDownsampledPointClouds ( const PointCloud &  model, const PointCloud &  scene, const MatchingParameters &  parameters  )

inline

This function matches two point clouds.

Parameters

[in]	model	First point cloud.
[in]	scene	Second point cloud to be matched to model.
[in]	parameters	Parameters that control the algorithm.

Returns

Object containing all results.

Exceptions

Any	exception derived from std::exception including CvbException.

This function matches two point clouds by the iterative closest point algorithm (ICP), see: The algorithm follows Arun KS, Huang TS, Blostein SD(1987) Least-squares fitting of two 3D point sets. IEEE Transactions on Pattern Analysis and Machine Intelligence 9:698-700.