Results of a matching and down sampling operation. More...
#include <cvb/match_3d/match_3d.hpp>
Public Member Functions | |
double | DistanceRMS () const noexcept |
Get the final root mean square of distances between model and scene. More... | |
AffineMatrix3D | Transformation () const noexcept |
Get the affine transformation (rotation matrix and translation vector), which maps the scene to the model. More... | |
int | NumIterations () const noexcept |
Get number of iterations needed. More... | |
Friends | |
MatchingResult | MatchDownsampledPointClouds (const PointCloud &model, const PointCloud &scene, const MatchingParameters ¶meters) |
This function matches two point clouds. More... | |
Results of a matching and down sampling operation.
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inlinenoexcept |
Get the final root mean square of distances between model and scene.
Does | not throw any exception. |
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inlinenoexcept |
Get number of iterations needed.
Does | not throw any exception. |
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inlinenoexcept |
Get the affine transformation (rotation matrix and translation vector), which maps the scene to the model.
Does | not throw any exception. |
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friend |
This function matches two point clouds.
[in] | model | First point cloud. |
[in] | scene | Second point cloud to be matched to model. |
[in] | parameters | Parameters that control the algorithm. |
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.