CVB++ 15.0
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]sceneFirst point cloud.
[in]modelSecond point cloud.
Returns
The distance.
Exceptions
Anyexception 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]sceneScene point cloud
[in]modelModel point cloud to be matched to scene.
[in]parametersParameters that control the algorithm.
Returns
Object containing all results.
Exceptions
Anyexception 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.