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 ¶meters) |
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... | |
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.
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strong |
Correspondence type used for algorithm in Cvb::Match3D::IcpMatch.
Enumerator | |
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ClassicICP | Classic ICP following Arun, 1987. |
ConsensusICP | Extended ICP taking shape correspondence into consideration. |
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inline |
Approximates the root mean square of distances between two point clouds.
[in] | scene | First point cloud. |
[in] | model | Second point cloud. |
Any | exception derived from std::exception including CvbException. |
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inline |
This function matches two point clouds.
[in] | scene | Scene point cloud |
[in] | model | Model point cloud to be matched to scene. |
[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.