CVBpy 14.1
cvb.match_3d Namespace Reference

Common Vision Blox Match3D ICP module for Python (alignement of two point clouds). More...

## Classes

class  CorrespondenceType
Correspondence type used for algorithm in icp_match. More...

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

class  MatchingResult
Results of a ICP matching and down sampling operation. More...

## Functions

float distance_rms (cvb.PointCloud scene, cvb.PointCloud model)
Approximates the root mean square of distances between two point clouds. More...

cvb.match_3d.MatchingResult icp_match (Union[cvb.DensePointCloud, cvb.SparsePointCloud] scene, Union[cvb.DensePointCloud, cvb.SparsePointCloud] model, cvb.match_3d.MatchingParameters parameters)
This function matches two point clouds. More...

## Detailed Description

Common Vision Blox Match3D ICP module for Python (alignement of two point clouds).

## ◆ distance_rms()

 float distance_rms ( cvb.PointCloud scene, cvb.PointCloud model )

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

## Parameters

scene : cvb.PointCloud First point cloud.

model : cvb.PointCloud Second point cloud.

## Returns

float The distance.

## ◆ icp_match()

 cvb.match_3d.MatchingResult icp_match ( Union[cvb.DensePointCloud, cvb.SparsePointCloud] scene, Union[cvb.DensePointCloud, cvb.SparsePointCloud] model, cvb.match_3d.MatchingParameters parameters )

This function matches two point clouds.

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.

## Parameters

scene : Union[cvb.DensePointCloud, cvb.SparsePointCloud] Scene point cloud.

model : Union[cvb.DensePointCloud, cvb.SparsePointCloud] Model point cloud to be matched to scene.

parameters : cvb.match_3d.MatchingParameters Parameters that control the algorithm.

## Returns

cvb.match_3d.MatchingResult Object containing all results.