c_match_3d.h

#pragma once
 
#if defined __GNUC__ && !defined CVB_SHOW_WARNINGS 
# pragma GCC system_header
#endif // __GNUC__
 
#include <cstddef>
#include <cstdint>
 
#include "../namespace.hpp"
 
#include "c_core_3d.h"
 
namespace Cvb
{
 
CVB_BEGIN_INLINE_NS
 
namespace CExports
{
enum CVM3DCorrespondenceType
{
  CVM3DCT_ClassicICP,
  CVM3DCT_ConsensICP,
  CVM3DCT_ConsensusICP
};
 
#pragma pack(push, 4)
struct CVM3DMatchParameters
{
  cvbint32_t major;
  cvbint32_t minor;
  cvbval_t MaxIterations;
  double Tolerance;
  double MinImprovement;
  double CorrespondenceThreshold;
  double ConvergenceRadius;
  cvbbool_t Prealign;
  CVM3DCorrespondenceType CorrespondenceMethod;
};
#pragma pack(pop)
 
const CVM3DMatchParameters CVM3DDefaultParameters =
{
  1, //major
  0, //minor
  20, // maxiterations
  1e-9, //tolerance
  1e-5, //MinImporvement
  .8, //CorrespondenceThreshold
  1e-4, //ConvergenceRadius
  false, //Prealign
  CVM3DCT_ConsensICP //CorrespondenceMethod
};
 
CVB_DEF_CAPI(cvbres_t, CVM3DMatchPointCloudsAdvanced, (
    CVCOMPOSITE PointCloudScene, cvbint64_t MaxScenePoints,
  CVCOMPOSITE PointCloudModel, cvbint64_t MaxModelPoints,
    const CVM3DMatchParameters& MatchParameter,
    double& FinalNorm,
    cvbval_t& NumIterationsNeeded,
    CVC3DTransformation& Transformation))
 
CVB_DEF_CAPI(cvbres_t, CVM3DRmsDistanceOfPointClouds, (
  CVCOMPOSITE PointCloudScene,
  CVCOMPOSITE PointCloudModel,
  double &RmsDistance))
 
}
 
CVB_END_INLINE_NS
 
}