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... | |
Common Vision Blox Match3D ICP module for Python (alignement of two point clouds).
float distance_rms | ( | cvb.PointCloud | scene, |
cvb.PointCloud | model | ||
) |
Approximates the root mean square of distances between two point clouds.
scene : cvb.PointCloud First point cloud.
model : cvb.PointCloud Second point cloud.
float The distance.
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.
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.
cvb.match_3d.MatchingResult Object containing all results.