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

#include <cvb/match_3d/match_3d.hpp>

Public Member Functions
	MatchingParameters () noexcept
	Create a parameter set to control the matching algorithm with default values. More...

	MatchingParameters (std::size_t maxScenePoints, std::size_t maxModelPoints) noexcept
	Create a parameter set to control the matching algorithm with default values. More...

	MatchingParameters (std::size_t maxScenePoints, std::size_t maxModelPoints, int maxIterations, double tolerance, double minImprovement, double correspondenceThreshold, double convergenceRadius, bool prealign, CorrespondenceType correspondenceMethod) noexcept
	Create a parameter set to control the Match3d ICP algorithm. More...

std::size_t	MaxModelPoints () const noexcept
	Gets maximum number of model points to use. More...

void	SetMaxModelPoints (std::size_t maxModelPoints) noexcept
	Sets maximum number of model points to use. More...

std::size_t	MaxScenePoints () const noexcept
	Gets maximum number of scene points to use. More...

void	SetMaxScenePoints (std::size_t maxScenePoints) noexcept
	Sets maximum number of scene points to use. More...

int	MaxIterations () const noexcept
	Gets maximum number of iterations to execute. More...

void	SetMaxIterations (int value) noexcept
	Sets maximum number of iterations to execute. More...

double	Tolerance () const noexcept
	Gets tolerance for stopping criteria. More...

void	SetTolerance (double value) noexcept
	Sets tolerance for stopping criteria. More...

double	MinImprovement () const noexcept
	Gets threshold for minimum improvement for early stopping criteria. More...

void	SetMinImprovement (double value) noexcept
	Sets threshold for minimum improvement for early stopping criteria. More...

double	CorrespondenceThreshold () const noexcept
	Gets special metric used for consensus ICP. More...

void	SetCorrespondenceThreshold (double value) noexcept
	Sets special metric used for consensus ICP. More...

double	ConvergenceRadius () const noexcept
	Gets convergence radius to define when two points are considered as a converged match. More...

void	SetConvergenceRadius (double value) noexcept
	Sets convergence radius to define when two points are considered as a converged match. More...

bool	Prealign () const noexcept
	Gets true, if pre-alignment of point clouds should be done using the center of gravity. More...

void	SetPrealign (bool value) noexcept
	Set true, if pre-alignment of point clouds should be done using the center of gravity. More...

CorrespondenceType	CorrespondenceMethod () const noexcept
	Gets correspondence type used. More...

void	SetCorrespondenceMethod (CorrespondenceType value) noexcept
	Sets correspondence type used. More...

Friends
MatchingResult	IcpMatch (const PointCloud &model, const PointCloud &scene, const MatchingParameters &parameters)
	This function matches two point clouds. More...

Detailed Description

A parameter set for matching and down sampling point clouds.

Constructor & Destructor Documentation

◆ MatchingParameters() [1/3]

MatchingParameters ( )

inlinenoexcept

Create a parameter set to control the matching algorithm with default values.

Note, that all points are used for the matching per default. If you like to save computation time, reduce number of scene and/or model points using SetMaxScenePoints/SetMaxModelPoints.

◆ MatchingParameters() [2/3]

MatchingParameters	(	std::size_t	maxScenePoints,
		std::size_t	maxModelPoints
	)

inlinenoexcept

Create a parameter set to control the matching algorithm with default values.

Parameters

[in]	maxScenePoints	Maximum number of scene points to use. Points are selected randomly. If zero, all points are used.
[in]	maxModelPoints	Maximum number of model points to use. Points are selected randomly. If zero, all points are used.

Exceptions

Does	not throw any exception.

◆ MatchingParameters() [3/3]

MatchingParameters	(	std::size_t	maxScenePoints,
		std::size_t	maxModelPoints,
		int	maxIterations,
		double	tolerance,
		double	minImprovement,
		double	correspondenceThreshold,
		double	convergenceRadius,
		bool	prealign,
		CorrespondenceType	correspondenceMethod
	)

inlinenoexcept

Create a parameter set to control the Match3d ICP algorithm.

Parameters

[in]	maxScenePoints	Maximum number of scene points to use. Points are selected randomly. If zero, all points are used.
[in]	maxModelPoints	Maximum number of model points to use. Points are selected randomly. If zero, all points are used.
[in]	maxIterations	Maximum number of iterations to execute.
[in]	tolerance	Iteration stops if mean distance between aligned point clouds is equal/below this value.
[in]	minImprovement	The mean distance between aligned point clouds has to differ more than this value from the results of the previous iteration. Otherwise iteration stops.
[in]	correspondenceThreshold	Parameter for shape sensitivity. It is defined by a value between 0 and 1. A higher value means higher sensitivity. A value of 0 corresponds to the classical ICP without any shape sensitivity. A value between 0.8 and 0.9 is recommended as default value when aligning point clouds.
[in]	convergenceRadius	Convergence radius to define when two points are considered as a converged match.
[in]	prealign	True, if pre-alignment of point clouds should be done using the center of gravity.
[in]	correspondenceMethod	Correspondence type used.

Exceptions

Does	not throw any exception.

Member Function Documentation

◆ ConvergenceRadius()

double ConvergenceRadius ( ) const

inlinenoexcept

Gets convergence radius to define when two points are considered as a converged match.

Returns: Convergence radius.

Exceptions

Does	not throw any exception.

◆ CorrespondenceMethod()

CorrespondenceType CorrespondenceMethod ( ) const

inlinenoexcept

Gets correspondence type used.

Returns: Correspondence type.

Exceptions

Does	not throw any exception.

◆ CorrespondenceThreshold()

double CorrespondenceThreshold ( ) const

inlinenoexcept

Gets special metric used for consensus ICP.

A value of 0 will result in the classical ICP method.

Returns: Threshold.

Exceptions

Does	not throw any exception.

◆ MaxIterations()

int MaxIterations ( ) const

inlinenoexcept

Gets maximum number of iterations to execute.

Returns: Maximum number of iterations.

Exceptions

Does	not throw any exception.

◆ MaxModelPoints()

std::size_t MaxModelPoints ( ) const

inlinenoexcept

Gets maximum number of model points to use.

Returns: The maximum number of points. If zero, all points are used.

Exceptions

Does	not throw any exception.

◆ MaxScenePoints()

std::size_t MaxScenePoints ( ) const

inlinenoexcept

Gets maximum number of scene points to use.

Returns: The maximum number of points. If zero, all points are used.

Exceptions

Does	not throw any exception.

◆ MinImprovement()

double MinImprovement ( ) const

inlinenoexcept

Gets threshold for minimum improvement for early stopping criteria.

The mean distance between aligned point clouds has to differ more than this value from the results of the previous iteration. Otherwise iteration stops.

Returns: Threshold.

Exceptions

Does	not throw any exception.

◆ Prealign()

bool Prealign ( ) const

inlinenoexcept

Gets true, if pre-alignment of point clouds should be done using the center of gravity.

Returns: Value for pre-alignment.

Exceptions

Does	not throw any exception.

◆ SetConvergenceRadius()

void SetConvergenceRadius ( double value )

inlinenoexcept

Sets convergence radius to define when two points are considered as a converged match.

Parameters

[in] value Convergence radius.

Exceptions

Does	not throw any exception.

◆ SetCorrespondenceMethod()

void SetCorrespondenceMethod ( CorrespondenceType value )

inlinenoexcept

Sets correspondence type used.

Parameters

[in] value Correspondence type.

Exceptions

Does	not throw any exception.

◆ SetCorrespondenceThreshold()

void SetCorrespondenceThreshold ( double value )

inlinenoexcept

Sets special metric used for consensus ICP.

A value of 0 will result in the classical ICP method.

Parameters

[in] value Threshold.

Exceptions

Does	not throw any exception.

◆ SetMaxIterations()

void SetMaxIterations ( int value )

inlinenoexcept

Sets maximum number of iterations to execute.

Parameters

[in] value Maximum number of iterations.

Exceptions

Does	not throw any exception.

◆ SetMaxModelPoints()

void SetMaxModelPoints ( std::size_t maxModelPoints )

inlinenoexcept

Sets maximum number of model points to use.

Parameters

[in] maxModelPoints The maximum number of points. If zero, all points are used.

Exceptions

Does	not throw any exception.

◆ SetMaxScenePoints()

void SetMaxScenePoints ( std::size_t maxScenePoints )

inlinenoexcept

Sets maximum number of scene points to use.

Parameters

[in] maxScenePoints The maximum number of points. If zero, all points are used.

Exceptions

Does	not throw any exception.

◆ SetMinImprovement()

void SetMinImprovement ( double value )

inlinenoexcept

Sets threshold for minimum improvement for early stopping criteria.

Parameters

[in] value Threshold.

Exceptions

Does	not throw any exception.

◆ SetPrealign()

void SetPrealign ( bool value )

inlinenoexcept

Set true, if pre-alignment of point clouds should be done using the center of gravity.

Parameters

[in] value Value for pre-alignment.

Exceptions

Does	not throw any exception.

◆ SetTolerance()

void SetTolerance ( double value )

inlinenoexcept

Sets tolerance for stopping criteria.

Parameters

[in] value Tolerance.

Exceptions

Does	not throw any exception.

◆ Tolerance()

double Tolerance ( ) const

inlinenoexcept

Gets tolerance for stopping criteria.

Iteration stops if mean distance between aligned point clouds is equal/below this value.

Returns: Tolerance.

Exceptions

Does	not throw any exception.

Friends And Related Function Documentation

◆ IcpMatch

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

friend

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.

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ MatchingParameters() [1/3]

◆ MatchingParameters() [2/3]

◆ MatchingParameters() [3/3]

Member Function Documentation

◆ ConvergenceRadius()

◆ CorrespondenceMethod()

◆ CorrespondenceThreshold()

◆ MaxIterations()

◆ MaxModelPoints()

◆ MaxScenePoints()

◆ MinImprovement()

◆ Prealign()

◆ SetConvergenceRadius()

◆ SetCorrespondenceMethod()

◆ SetCorrespondenceThreshold()

◆ SetMaxIterations()

◆ SetMaxModelPoints()

◆ SetMaxScenePoints()

◆ SetMinImprovement()

◆ SetPrealign()

◆ SetTolerance()

◆ Tolerance()

Friends And Related Function Documentation

◆ IcpMatch