A parameter set for matching and down sampling point clouds. More...

#include <cvb/match_3d/match_3d.hpp>

Public Member Functions
	MatchingParameters (std::size_t maxModelPoints, std::size_t maxScenePoints) noexcept
	Create a parameter set to control the matching algorithm. More...

	MatchingParameters (std::size_t maxModelPoints, std::size_t maxScenePoints, int maxIterations, double maxDistanceStdDev, double deltaThresholdRMS) noexcept
	Create a parameter set to control the matching algorithm. More...

std::size_t	MaxModelPoints () const noexcept
	Gets maximum number of model points to use. More...

void	SetMaxModelPoints (std::size_t maxModelPoints) noexcept
	Sets maximum number of model points to use. More...

std::size_t	MaxScenePoints () const noexcept
	Gets maximum number of scene points to use. More...

void	SetMaxScenePoints (std::size_t maxScenePoints) noexcept
	Sets maximum number of scene points to use. More...

int	MaxIterations () const noexcept
	Gets maximum number of iterations to execute. More...

void	SetMaxIterations (int maxIterations) noexcept
	Sets maximum number of iterations to execute. More...

double	MaxDistanceStdDev () const noexcept
	Gets how far points are to be considered corresponding to a point. More...

void	SetMaxDistanceStdDev (double maxDistanceStdDev) noexcept
	Sets how far points are to be considered corresponding to a point. More...

double	DeltaThresholdRMS () const noexcept
	Gets the threshold for RMS to stop iteration. More...

void	SetDeltaThresholdRMS (double deltaThresholdRMS) noexcept
	Sets the threshold for RMS to stop iteration. More...

Friends
MatchingResult	MatchDownsampledPointClouds (const PointCloud &model, const PointCloud &scene, const MatchingParameters &parameters)
	This function matches two point clouds. More...

Detailed Description

A parameter set for matching and down sampling point clouds.

Constructor & Destructor Documentation

◆ MatchingParameters() [1/2]

MatchingParameters	(	std::size_t	maxModelPoints,
		std::size_t	maxScenePoints
	)

inlinenoexcept

Create a parameter set to control the matching algorithm.

Parameters

[in]	maxModelPoints	Maximum number of model points to use.
[in]	maxScenePoints	Maximum number of scene points to use.

Exceptions

Does	not throw any exception.

◆ MatchingParameters() [2/2]

MatchingParameters	(	std::size_t	maxModelPoints,
		std::size_t	maxScenePoints,
		int	maxIterations,
		double	maxDistanceStdDev,
		double	deltaThresholdRMS
	)

inlinenoexcept

Create a parameter set to control the matching algorithm.

Parameters

[in]	maxModelPoints	Maximum number of model points to use.
[in]	maxScenePoints	Maximum number of scene points to use.
[in]	maxIterations	Maximum number of iterations to execute.
[in]	maxDistanceStdDev	Defines how far points are to be considered corresponding to a point.
[in]	deltaThresholdRMS	Threshold for RMS to stop iteration.

Exceptions

Does	not throw any exception.

Member Function Documentation

◆ DeltaThresholdRMS()

double DeltaThresholdRMS ( ) const

inlinenoexcept

Gets the threshold for RMS to stop iteration.

Returns: The threshold.

Exceptions

Does	not throw any exception.

◆ MaxDistanceStdDev()

double MaxDistanceStdDev ( ) const

inlinenoexcept

Gets how far points are to be considered corresponding to a point.

Returns: double The maximum distance.

Exceptions

Does	not throw any exception.

◆ MaxIterations()

int MaxIterations ( ) const

inlinenoexcept

Gets maximum number of iterations to execute.

Returns: Number of iterations.

Exceptions

Does	not throw any exception.

◆ MaxModelPoints()

std::size_t MaxModelPoints ( ) const

inlinenoexcept

Gets maximum number of model points to use.

Returns: The maximum number of points.

Exceptions

Does	not throw any exception.

◆ MaxScenePoints()

std::size_t MaxScenePoints ( ) const

inlinenoexcept

Gets maximum number of scene points to use.

Returns: The maximum number of points.

Exceptions

Does	not throw any exception.

◆ SetDeltaThresholdRMS()

void SetDeltaThresholdRMS ( double deltaThresholdRMS )

inlinenoexcept

Sets the threshold for RMS to stop iteration.

Parameters

[in] deltaThresholdRMS The threshold.

Exceptions

Does	not throw any exception.

◆ SetMaxDistanceStdDev()

void SetMaxDistanceStdDev ( double maxDistanceStdDev )

inlinenoexcept

Sets how far points are to be considered corresponding to a point.

Parameters

[in] maxDistanceStdDev The maximum distance.

Exceptions

Does	not throw any exception.

◆ SetMaxIterations()

void SetMaxIterations ( int maxIterations )

inlinenoexcept

Sets maximum number of iterations to execute.

Parameters

[in] maxIterations Number of iterations.

Exceptions

Does	not throw any exception.

◆ SetMaxModelPoints()

void SetMaxModelPoints ( std::size_t maxModelPoints )

inlinenoexcept

Sets maximum number of model points to use.

Parameters

[in] maxModelPoints The maximum number of points.

Exceptions

Does	not throw any exception.

◆ SetMaxScenePoints()

void SetMaxScenePoints ( std::size_t maxScenePoints )

inlinenoexcept

Sets maximum number of scene points to use.

Parameters

[in] maxScenePoints The maximum number of points.

Exceptions

Does	not throw any exception.

Friends And Related Function Documentation

◆ MatchDownsampledPointClouds

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

friend

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.

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ MatchingParameters() [1/2]

◆ MatchingParameters() [2/2]

Member Function Documentation

◆ DeltaThresholdRMS()

◆ MaxDistanceStdDev()

◆ MaxIterations()

◆ MaxModelPoints()

◆ MaxScenePoints()

◆ SetDeltaThresholdRMS()

◆ SetMaxDistanceStdDev()

◆ SetMaxIterations()

◆ SetMaxModelPoints()

◆ SetMaxScenePoints()

Friends And Related Function Documentation

◆ MatchDownsampledPointClouds