Cvb::Match3D Namespace Reference

Namespace for Match3D ICP. 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...

Enumerations
enum class	CorrespondenceType { ClassicICP = CExports::CVM3DCT_ClassicICP , ConsensusICP = CExports::CVM3DCT_ConsensusICP }
	Correspondence type used for algorithm in Cvb::Match3D::IcpMatch. More...

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

Detailed Description

Namespace for Match3D ICP.

This library allows the alignment of two 3D point clouds. The alignment is based on the iterative closest point (ICP) algorithm.

Online Manual

Common Vision Blox-Tool Match3D ICP

Remarks

CMake users: Link to imported target CVB::CvbMatch3D

Enumeration Type Documentation

CorrespondenceType

enum class CorrespondenceType

strong

Correspondence type used for algorithm in Cvb::Match3D::IcpMatch.

Enumerator
ClassicICP	Classic ICP following Arun, 1987.
ConsensusICP	Extended ICP taking shape correspondence into consideration.

Function Documentation

DistanceRMS()

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

inline

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

Parameters

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

Returns

The distance.

Exceptions

Any	exception derived from std::exception including CvbException.

IcpMatch()

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

inline

This function matches two point clouds.

Parameters

[in]	scene	Scene point cloud
[in]	model	Model point cloud to be matched to scene.
[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.